diff --git a/mjx/cuda_requirements.txt b/mjx/cuda_requirements.txt
index 9a5463ea..0851eb61 100644
--- a/mjx/cuda_requirements.txt
+++ b/mjx/cuda_requirements.txt
@@ -16,6 +16,6 @@ jax-cuda12-pjrt==0.5.3; python_version >= '3.10' \
 jax-cuda12-pjrt==0.4.30; python_version == '3.9' \
     --hash=sha256:895d0198ad99638fcaf976c47592e2a543eef79ea15fabd24a402d055390c328 \
     --hash=sha256:c36fb1e0c236563bf3a87e70f4d1ab28a31d7cf5d722c9ede30c4172116e8bcb
-warp-lang==1.8.1 \
-    --hash=sha256:cfc59e1070ad71531b5d83186de48162507277af344a102fa33d5df9cdb942f7 \
-    --hash=sha256:1db9ca92c46902b76bb99565c544347d1a32e9fb875ce902f1cafb94978d1ac3
+warp-lang==1.9.0 \
+    --hash=sha256:23165d3291eeecc5ac47b9a3de0b93d34b4c921414e5a761ab96d68861efa3cb \
+    --hash=sha256:7ea8057e5d6fdb9b0885d725b51954c5fc6dac62d6ac007828148b1cb13ee615
diff --git a/mjx/mujoco/mjx/_src/io_test.py b/mjx/mujoco/mjx/_src/io_test.py
index 8c0954b3..fb7eafe2 100644
--- a/mjx/mujoco/mjx/_src/io_test.py
+++ b/mjx/mujoco/mjx/_src/io_test.py
@@ -15,7 +15,9 @@
 """Tests for io functions."""
 
 import os
+import tempfile
 from unittest import mock
+
 from absl.testing import absltest
 from absl.testing import parameterized
 import jax
@@ -31,6 +33,7 @@ from mujoco.mjx._src.types import JacobianType
 # pylint: enable=g-importing-member
 import mujoco.mjx.warp as mjxw
 from mujoco.mjx.warp import types as mjxw_types
+from mujoco.mjx.warp import warp as wp  # pylint: disable=g-importing-member
 import numpy as np
 
 
@@ -125,6 +128,12 @@ def _get_name_from_path(path: jax.tree_util.KeyPath) -> str:
 class ModelIOTest(parameterized.TestCase):
   """IO tests for mjx.Model."""
 
+  def setUp(self):
+    super().setUp()
+    if mjxw.WARP_INSTALLED:
+      self.tempdir = tempfile.TemporaryDirectory()
+      wp.config.kernel_cache_dir = self.tempdir.name
+
   @parameterized.product(
       xml=(_MULTIPLE_CONVEX_OBJECTS, _MULTIPLE_CONSTRAINTS),
       impl=('jax', 'c', 'warp'),
@@ -326,6 +335,12 @@ class ModelIOTest(parameterized.TestCase):
 class DataIOTest(parameterized.TestCase):
   """IO tests for mjx.Data."""
 
+  def setUp(self):
+    super().setUp()
+    if mjxw.WARP_INSTALLED:
+      self.tempdir = tempfile.TemporaryDirectory()
+      wp.config.kernel_cache_dir = self.tempdir.name
+
   @parameterized.parameters('jax', 'c')
   def test_make_data(self, impl: str):
     """Test that make_data returns the correct shapes."""
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py b/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
index deb06509..aff524f6 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/__init__.py
@@ -21,6 +21,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import Model as Model
 from mujoco.mjx.third_party.mujoco_warp._src.types import Data as Data
 # isort: on
 
+from ._src import test_util as test_util  # used by viewer and testspeed, not meant for public consumption
 from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import collision as collision
 from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import nxn_broadphase as nxn_broadphase
 from mujoco.mjx.third_party.mujoco_warp._src.collision_driver import sap_broadphase as sap_broadphase
@@ -43,6 +44,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.io import get_data_into as get_data
 from mujoco.mjx.third_party.mujoco_warp._src.io import make_data as make_data
 from mujoco.mjx.third_party.mujoco_warp._src.io import put_data as put_data
 from mujoco.mjx.third_party.mujoco_warp._src.io import put_model as put_model
+from mujoco.mjx.third_party.mujoco_warp._src.io import reset_data as reset_data
 from mujoco.mjx.third_party.mujoco_warp._src.passive import passive as passive
 from mujoco.mjx.third_party.mujoco_warp._src.ray import ray as ray
 from mujoco.mjx.third_party.mujoco_warp._src.sensor import energy_pos as energy_pos
@@ -66,8 +68,6 @@ from mujoco.mjx.third_party.mujoco_warp._src.solver import solve as solve
 from mujoco.mjx.third_party.mujoco_warp._src.support import contact_force as contact_force
 from mujoco.mjx.third_party.mujoco_warp._src.support import mul_m as mul_m
 from mujoco.mjx.third_party.mujoco_warp._src.support import xfrc_accumulate as xfrc_accumulate
-from mujoco.mjx.third_party.mujoco_warp._src.test_util import BenchmarkSuite as BenchmarkSuite
-from mujoco.mjx.third_party.mujoco_warp._src.test_util import benchmark as benchmark
 from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseFilter as BroadphaseFilter
 from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType as BroadphaseType
 from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType as ConeType
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/broadphase_test.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/broadphase_test.py
index 57a7b439..f1555cc5 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/broadphase_test.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/broadphase_test.py
@@ -326,9 +326,6 @@ class BroadphaseTest(parameterized.TestCase):
     broadphase_caller(m, d)
     self.assertEqual(d.ncollision.numpy()[0], 0)
 
-  # TODO(team): test margin
-  # TODO(team): test DisableBit.FILTERPARENT
-
 
 if __name__ == "__main__":
   wp.init()
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
index 2601e3ae..7d0580ff 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_convex.py
@@ -19,12 +19,12 @@ from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk import ccd
 from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk_legacy import epa_legacy
 from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk_legacy import gjk_legacy
 from mujoco.mjx.third_party.mujoco_warp._src.collision_gjk_legacy import multicontact_legacy
-from mujoco.mjx.third_party.mujoco_warp._src.collision_hfield import hfield_prism_vertex
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import _geom
+from mujoco.mjx.third_party.mujoco_warp._src.collision_hfield import hfield_filter
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import Geom
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import contact_params
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import geom
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import write_contact
 from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
-from mujoco.mjx.third_party.mujoco_warp._src.math import upper_tri_index
 from mujoco.mjx.third_party.mujoco_warp._src.math import upper_trid_index
 from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXCONPAIR
 from mujoco.mjx.third_party.mujoco_warp._src.types import Data
@@ -36,10 +36,11 @@ from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
 
 # TODO(team): improve compile time to enable backward pass
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 MULTI_CONTACT_COUNT = 8
 mat3c = wp.types.matrix(shape=(MULTI_CONTACT_COUNT, 3), dtype=float)
+mat63 = wp.types.matrix(shape=(6, 3), dtype=float)
 
 _CONVEX_COLLISION_PAIRS = [
   (GeomType.HFIELD.value, GeomType.SPHERE.value),
@@ -78,30 +79,6 @@ def _check_convex_collision_pairs():
 assert _check_convex_collision_pairs(), "_CONVEX_COLLISION_PAIRS is in invalid order."
 
 
-@wp.func
-def _max_contacts_height_field(
-  # Model:
-  ngeom: int,
-  geom_type: wp.array(dtype=int),
-  geompair2hfgeompair: wp.array(dtype=int),
-  # In:
-  g1: int,
-  g2: int,
-  worldid: int,
-  # Data out:
-  ncon_hfield_out: wp.array2d(dtype=int),
-):
-  hfield = int(GeomType.HFIELD.value)
-  if geom_type[g1] == hfield or (geom_type[g2] == hfield):
-    geompairid = upper_tri_index(ngeom, g1, g2)
-    hfgeompairid = geompair2hfgeompair[geompairid]
-    hfncon = wp.atomic_add(ncon_hfield_out[worldid], hfgeompairid, 1)
-    if hfncon >= MJ_MAXCONPAIR:
-      return True
-
-  return False
-
-
 @cache_kernel
 def ccd_kernel_builder(
   legacy_gjk: bool,
@@ -111,12 +88,176 @@ def ccd_kernel_builder(
   epa_iterations: int,
   epa_exact_neg_distance: bool,
   depth_extension: float,
+  is_hfield: bool,
 ):
+  @wp.func
+  def eval_ccd_write_contact(
+    # Model:
+    opt_ccd_tolerance: wp.array(dtype=float),
+    geom_type: wp.array(dtype=int),
+    # Data in:
+    nconmax_in: int,
+    epa_vert_in: wp.array2d(dtype=wp.vec3),
+    epa_vert1_in: wp.array2d(dtype=wp.vec3),
+    epa_vert2_in: wp.array2d(dtype=wp.vec3),
+    epa_vert_index1_in: wp.array2d(dtype=int),
+    epa_vert_index2_in: wp.array2d(dtype=int),
+    epa_face_in: wp.array2d(dtype=wp.vec3i),
+    epa_pr_in: wp.array2d(dtype=wp.vec3),
+    epa_norm2_in: wp.array2d(dtype=float),
+    epa_index_in: wp.array2d(dtype=int),
+    epa_map_in: wp.array2d(dtype=int),
+    epa_horizon_in: wp.array2d(dtype=int),
+    multiccd_polygon_in: wp.array2d(dtype=wp.vec3),
+    multiccd_clipped_in: wp.array2d(dtype=wp.vec3),
+    multiccd_pnormal_in: wp.array2d(dtype=wp.vec3),
+    multiccd_pdist_in: wp.array2d(dtype=float),
+    multiccd_idx1_in: wp.array2d(dtype=int),
+    multiccd_idx2_in: wp.array2d(dtype=int),
+    multiccd_n1_in: wp.array2d(dtype=wp.vec3),
+    multiccd_n2_in: wp.array2d(dtype=wp.vec3),
+    multiccd_endvert_in: wp.array2d(dtype=wp.vec3),
+    multiccd_face1_in: wp.array2d(dtype=wp.vec3),
+    multiccd_face2_in: wp.array2d(dtype=wp.vec3),
+    # In:
+    geom1: Geom,
+    geom2: Geom,
+    geoms: wp.vec2i,
+    worldid: int,
+    tid: int,
+    margin: float,
+    gap: float,
+    condim: int,
+    friction: vec5,
+    solref: wp.vec2,
+    solreffriction: wp.vec2,
+    solimp: vec5,
+    x1: wp.vec3,
+    x2: wp.vec3,
+    count: int,
+    # Data out:
+    ncon_out: wp.array(dtype=int),
+    contact_dist_out: wp.array(dtype=float),
+    contact_pos_out: wp.array(dtype=wp.vec3),
+    contact_frame_out: wp.array(dtype=wp.mat33),
+    contact_includemargin_out: wp.array(dtype=float),
+    contact_friction_out: wp.array(dtype=vec5),
+    contact_solref_out: wp.array(dtype=wp.vec2),
+    contact_solreffriction_out: wp.array(dtype=wp.vec2),
+    contact_solimp_out: wp.array(dtype=vec5),
+    contact_dim_out: wp.array(dtype=int),
+    contact_geom_out: wp.array(dtype=wp.vec2i),
+    contact_worldid_out: wp.array(dtype=int),
+  ) -> int:
+    # TODO(kbayes): remove legacy GJK once multicontact can be enabled
+    if wp.static(legacy_gjk):
+      simplex, normal = gjk_legacy(
+        gjk_iterations,
+        geom1,
+        geom2,
+        geomtype1,
+        geomtype2,
+      )
+
+      depth, normal = epa_legacy(
+        epa_iterations, geom1, geom2, geomtype1, geomtype2, depth_extension, epa_exact_neg_distance, simplex, normal
+      )
+      dist = -depth
+
+      if dist >= 0.0 or depth < -depth_extension:
+        return 0
+      sphere = int(GeomType.SPHERE.value)
+      ellipsoid = int(GeomType.ELLIPSOID.value)
+      g1 = geoms[0]
+      g2 = geoms[1]
+      if geom_type[g1] == sphere or geom_type[g1] == ellipsoid or geom_type[g2] == sphere or geom_type[g2] == ellipsoid:
+        ncontact, points = multicontact_legacy(geom1, geom2, geomtype1, geomtype2, depth_extension, depth, normal, 1, 2, 1.0e-5)
+      else:
+        ncontact, points = multicontact_legacy(geom1, geom2, geomtype1, geomtype2, depth_extension, depth, normal, 4, 8, 1.0e-1)
+      frame = make_frame(normal)
+    else:
+      points = mat3c()
+      dist, ncontact, witness1, witness2 = ccd(
+        False,
+        opt_ccd_tolerance[worldid],
+        0.0,
+        gjk_iterations,
+        epa_iterations,
+        geom1,
+        geom2,
+        geomtype1,
+        geomtype2,
+        x1,
+        x2,
+        epa_vert_in[tid],
+        epa_vert1_in[tid],
+        epa_vert2_in[tid],
+        epa_vert_index1_in[tid],
+        epa_vert_index2_in[tid],
+        epa_face_in[tid],
+        epa_pr_in[tid],
+        epa_norm2_in[tid],
+        epa_index_in[tid],
+        epa_map_in[tid],
+        epa_horizon_in[tid],
+        multiccd_polygon_in[tid],
+        multiccd_clipped_in[tid],
+        multiccd_pnormal_in[tid],
+        multiccd_pdist_in[tid],
+        multiccd_idx1_in[tid],
+        multiccd_idx2_in[tid],
+        multiccd_n1_in[tid],
+        multiccd_n2_in[tid],
+        multiccd_endvert_in[tid],
+        multiccd_face1_in[tid],
+        multiccd_face2_in[tid],
+      )
+      if dist >= 0.0:
+        return 0
+
+      for i in range(ncontact):
+        points[i] = 0.5 * (witness1[i] + witness2[i])
+      normal = witness1[0] - witness2[0]
+      frame = make_frame(normal)
+
+    for i in range(ncontact):
+      write_contact(
+        nconmax_in,
+        dist,
+        points[i],
+        frame,
+        margin,
+        gap,
+        condim,
+        friction,
+        solref,
+        solreffriction,
+        solimp,
+        geoms,
+        worldid,
+        ncon_out,
+        contact_dist_out,
+        contact_pos_out,
+        contact_frame_out,
+        contact_includemargin_out,
+        contact_friction_out,
+        contact_solref_out,
+        contact_solreffriction_out,
+        contact_solimp_out,
+        contact_dim_out,
+        contact_geom_out,
+        contact_worldid_out,
+      )
+      if count + (i + 1) >= MJ_MAXCONPAIR:
+        return i + 1
+
+    return ncontact
+
   # runs convex collision on a set of geom pairs to recover contact info
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def ccd_kernel(
     # Model:
-    ngeom: int,
+    opt_ccd_tolerance: wp.array(dtype=float),
     geom_type: wp.array(dtype=int),
     geom_condim: wp.array(dtype=int),
     geom_dataid: wp.array(dtype=int),
@@ -125,6 +266,8 @@ def ccd_kernel_builder(
     geom_solref: wp.array2d(dtype=wp.vec2),
     geom_solimp: wp.array2d(dtype=vec5),
     geom_size: wp.array2d(dtype=wp.vec3),
+    geom_aabb: wp.array2d(dtype=wp.vec3),
+    geom_rbound: wp.array2d(dtype=float),
     geom_friction: wp.array2d(dtype=wp.vec3),
     geom_margin: wp.array2d(dtype=float),
     geom_gap: wp.array2d(dtype=float),
@@ -154,13 +297,11 @@ def ccd_kernel_builder(
     pair_margin: wp.array2d(dtype=float),
     pair_gap: wp.array2d(dtype=float),
     pair_friction: wp.array2d(dtype=vec5),
-    geompair2hfgeompair: wp.array(dtype=int),
     # Data in:
     nconmax_in: int,
     geom_xpos_in: wp.array2d(dtype=wp.vec3),
     geom_xmat_in: wp.array2d(dtype=wp.mat33),
     collision_pair_in: wp.array(dtype=wp.vec2i),
-    collision_hftri_index_in: wp.array(dtype=int),
     collision_pairid_in: wp.array(dtype=int),
     collision_worldid_in: wp.array(dtype=int),
     ncollision_in: wp.array(dtype=int),
@@ -175,9 +316,19 @@ def ccd_kernel_builder(
     epa_index_in: wp.array2d(dtype=int),
     epa_map_in: wp.array2d(dtype=int),
     epa_horizon_in: wp.array2d(dtype=int),
+    multiccd_polygon_in: wp.array2d(dtype=wp.vec3),
+    multiccd_clipped_in: wp.array2d(dtype=wp.vec3),
+    multiccd_pnormal_in: wp.array2d(dtype=wp.vec3),
+    multiccd_pdist_in: wp.array2d(dtype=float),
+    multiccd_idx1_in: wp.array2d(dtype=int),
+    multiccd_idx2_in: wp.array2d(dtype=int),
+    multiccd_n1_in: wp.array2d(dtype=wp.vec3),
+    multiccd_n2_in: wp.array2d(dtype=wp.vec3),
+    multiccd_endvert_in: wp.array2d(dtype=wp.vec3),
+    multiccd_face1_in: wp.array2d(dtype=wp.vec3),
+    multiccd_face2_in: wp.array2d(dtype=wp.vec3),
     # Data out:
     ncon_out: wp.array(dtype=int),
-    ncon_hfield_out: wp.array2d(dtype=int),
     contact_dist_out: wp.array(dtype=float),
     contact_pos_out: wp.array(dtype=wp.vec3),
     contact_frame_out: wp.array(dtype=wp.mat33),
@@ -202,6 +353,15 @@ def ccd_kernel_builder(
       return
 
     worldid = collision_worldid_in[tid]
+
+    # height field filter
+    if wp.static(is_hfield):
+      no_hf_collision, xmin, xmax, ymin, ymax, zmin, zmax = hfield_filter(
+        geom_dataid, geom_aabb, geom_rbound, geom_margin, hfield_size, geom_xpos_in, geom_xmat_in, worldid, g1, g2
+      )
+      if no_hf_collision:
+        return
+
     _, margin, gap, condim, friction, solref, solreffriction, solimp = contact_params(
       geom_condim,
       geom_priority,
@@ -224,24 +384,18 @@ def ccd_kernel_builder(
       worldid,
     )
 
-    hftri_index = collision_hftri_index_in[tid]
-
-    geom1 = _geom(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      hfield_adr,
-      hfield_nrow,
-      hfield_ncol,
-      hfield_size,
-      hfield_data,
-      mesh_vertadr,
-      mesh_vertnum,
+    geom1_dataid = geom_dataid[g1]
+    geom1 = geom(
+      geomtype1,
+      geom1_dataid,
+      geom_size[worldid, g1],
+      mesh_vertadr[geom1_dataid],
+      mesh_vertnum[geom1_dataid],
       mesh_vert,
-      mesh_graphadr,
+      mesh_graphadr[geom1_dataid],
       mesh_graph,
-      mesh_polynum,
-      mesh_polyadr,
+      mesh_polynum[geom1_dataid],
+      mesh_polyadr[geom1_dataid],
       mesh_polynormal,
       mesh_polyvertadr,
       mesh_polyvertnum,
@@ -249,29 +403,22 @@ def ccd_kernel_builder(
       mesh_polymapadr,
       mesh_polymapnum,
       mesh_polymap,
-      geom_xpos_in,
-      geom_xmat_in,
-      worldid,
-      g1,
-      hftri_index,
+      geom_xpos_in[worldid, g1],
+      geom_xmat_in[worldid, g1],
     )
 
-    geom2 = _geom(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      hfield_adr,
-      hfield_nrow,
-      hfield_ncol,
-      hfield_size,
-      hfield_data,
-      mesh_vertadr,
-      mesh_vertnum,
+    geom2_dataid = geom_dataid[g2]
+    geom2 = geom(
+      geomtype2,
+      geom2_dataid,
+      geom_size[worldid, g2],
+      mesh_vertadr[geom2_dataid],
+      mesh_vertnum[geom2_dataid],
       mesh_vert,
-      mesh_graphadr,
+      mesh_graphadr[geom2_dataid],
       mesh_graph,
-      mesh_polynum,
-      mesh_polyadr,
+      mesh_polynum[geom2_dataid],
+      mesh_polyadr[geom2_dataid],
       mesh_polynormal,
       mesh_polyvertadr,
       mesh_polyvertnum,
@@ -279,102 +426,169 @@ def ccd_kernel_builder(
       mesh_polymapadr,
       mesh_polymapnum,
       mesh_polymap,
-      geom_xpos_in,
-      geom_xmat_in,
-      worldid,
-      g2,
-      hftri_index,
+      geom_xpos_in[worldid, g2],
+      geom_xmat_in[worldid, g2],
     )
 
-    # TODO(kbayes): remove legacy GJK once multicontact can be enabled
-    if wp.static(legacy_gjk):
-      # find prism center for height field
-      if geomtype1 == int(GeomType.HFIELD.value):
-        x1 = wp.vec3(0.0, 0.0, 0.0)
-        for i in range(6):
-          x1 += hfield_prism_vertex(geom1.hfprism, i)
-        x1 = geom1.pos + geom1.rot @ (x1 / 6.0)
-        geom1.pos = x1
+    # see MuJoCo mjc_ConvexHField
+    if wp.static(is_hfield):
+      # height field subgrid
+      nrow = hfield_nrow[g1]
+      ncol = hfield_ncol[g1]
+      size = hfield_size[g1]
 
-      simplex, normal = gjk_legacy(
-        gjk_iterations,
-        geom1,
-        geom2,
-        geomtype1,
-        geomtype2,
-      )
+      # subgrid
+      x_scale = 0.5 * float(ncol - 1) / size[0]
+      y_scale = 0.5 * float(nrow - 1) / size[1]
+      cmin = wp.max(0, int(wp.floor((xmin + size[0]) * x_scale)))
+      cmax = wp.min(ncol - 1, int(wp.ceil((xmax + size[0]) * x_scale)))
+      rmin = wp.max(0, int(wp.floor((ymin + size[1]) * y_scale)))
+      rmax = wp.min(nrow - 1, int(wp.ceil((ymax + size[1]) * y_scale)))
 
-      depth, normal = epa_legacy(
-        epa_iterations, geom1, geom2, geomtype1, geomtype2, depth_extension, epa_exact_neg_distance, simplex, normal
-      )
-      dist = -depth
+      dx = (2.0 * size[0]) / float(ncol - 1)
+      dy = (2.0 * size[1]) / float(nrow - 1)
+      dr = wp.vec2i(1, 0)
 
-      if dist >= 0.0 or depth < -depth_extension:
-        count = 0
-        return
-      sphere = int(GeomType.SPHERE.value)
-      ellipsoid = int(GeomType.ELLIPSOID.value)
-      if geom_type[g1] == sphere or geom_type[g1] == ellipsoid or geom_type[g2] == sphere or geom_type[g2] == ellipsoid:
-        count, points = multicontact_legacy(geom1, geom2, geomtype1, geomtype2, depth_extension, depth, normal, 1, 2, 1.0e-5)
-      else:
-        count, points = multicontact_legacy(geom1, geom2, geomtype1, geomtype2, depth_extension, depth, normal, 4, 8, 1.0e-1)
-      frame = make_frame(normal)
+      prism = mat63()
+
+      # set zbottom value using base size
+      prism[0, 2] = -size[3]
+      prism[1, 2] = -size[3]
+      prism[2, 2] = -size[3]
+
+      adr = hfield_adr[geom1_dataid]
+
+      # process all prisms in subgrid
+      count = int(0)
+      for r in range(rmin, rmax):
+        nvert = int(0)
+        for c in range(cmin, cmax + 1):
+          # add both triangles from this cell
+          for i in range(2):
+            # add vert
+            x = dx * float(c) - size[0]
+            y = dy * float(r + dr[i]) - size[1]
+            z = hfield_data[adr + (r + dr[i]) * ncol + c] * size[2] + margin
+
+            prism[0] = prism[1]
+            prism[1] = prism[2]
+            prism[3] = prism[4]
+            prism[4] = prism[5]
+
+            prism[2, 0] = x
+            prism[5, 0] = x
+            prism[2, 1] = y
+            prism[5, 1] = y
+            prism[5, 2] = z
+
+            nvert += 1
+
+            if nvert <= 2:
+              continue
+
+            # prism height test
+            if prism[3, 2] < zmin and prism[4, 2] < zmin and prism[5, 2] < zmin:
+              continue
+
+            geom1.hfprism = prism
+
+            # prism center
+            x1 = geom1.pos
+            if wp.static(not legacy_gjk):
+              x1_ = wp.vec3(0.0, 0.0, 0.0)
+              for i in range(6):
+                x1_ += prism[i]
+              x1 += geom1.rot @ (x1_ / 6.0)
+
+            ncontact = eval_ccd_write_contact(
+              opt_ccd_tolerance,
+              geom_type,
+              nconmax_in,
+              epa_vert_in,
+              epa_vert1_in,
+              epa_vert2_in,
+              epa_vert_index1_in,
+              epa_vert_index2_in,
+              epa_face_in,
+              epa_pr_in,
+              epa_norm2_in,
+              epa_index_in,
+              epa_map_in,
+              epa_horizon_in,
+              multiccd_polygon_in,
+              multiccd_clipped_in,
+              multiccd_pnormal_in,
+              multiccd_pdist_in,
+              multiccd_idx1_in,
+              multiccd_idx2_in,
+              multiccd_n1_in,
+              multiccd_n2_in,
+              multiccd_endvert_in,
+              multiccd_face1_in,
+              multiccd_face2_in,
+              geom1,
+              geom2,
+              geoms,
+              worldid,
+              tid,
+              margin,
+              gap,
+              condim,
+              friction,
+              solref,
+              solreffriction,
+              solimp,
+              x1,
+              geom2.pos,
+              count,
+              ncon_out,
+              contact_dist_out,
+              contact_pos_out,
+              contact_frame_out,
+              contact_includemargin_out,
+              contact_friction_out,
+              contact_solref_out,
+              contact_solreffriction_out,
+              contact_solimp_out,
+              contact_dim_out,
+              contact_geom_out,
+              contact_worldid_out,
+            )
+            count += ncontact
+            if count >= MJ_MAXCONPAIR:
+              return
     else:
-      points = mat3c()
-
-      x1 = geom1.pos
-      x2 = geom2.pos
-
-      # find prism center for height field
-      if geomtype1 == int(GeomType.HFIELD.value):
-        x1_ = wp.vec3(0.0, 0.0, 0.0)
-        for i in range(6):
-          x1_ += hfield_prism_vertex(geom1.hfprism, i)
-        x1 += geom1.rot @ (x1_ / 6.0)
-
-      dist, count, witness1, witness2 = ccd(
-        False,
-        1e-6,
-        0.0,
-        gjk_iterations,
-        epa_iterations,
+      eval_ccd_write_contact(
+        opt_ccd_tolerance,
+        geom_type,
+        nconmax_in,
+        epa_vert_in,
+        epa_vert1_in,
+        epa_vert2_in,
+        epa_vert_index1_in,
+        epa_vert_index2_in,
+        epa_face_in,
+        epa_pr_in,
+        epa_norm2_in,
+        epa_index_in,
+        epa_map_in,
+        epa_horizon_in,
+        multiccd_polygon_in,
+        multiccd_clipped_in,
+        multiccd_pnormal_in,
+        multiccd_pdist_in,
+        multiccd_idx1_in,
+        multiccd_idx2_in,
+        multiccd_n1_in,
+        multiccd_n2_in,
+        multiccd_endvert_in,
+        multiccd_face1_in,
+        multiccd_face2_in,
         geom1,
         geom2,
-        geomtype1,
-        geomtype2,
-        x1,
-        x2,
-        epa_vert_in[tid],
-        epa_vert1_in[tid],
-        epa_vert2_in[tid],
-        epa_vert_index1_in[tid],
-        epa_vert_index2_in[tid],
-        epa_face_in[tid],
-        epa_pr_in[tid],
-        epa_norm2_in[tid],
-        epa_index_in[tid],
-        epa_map_in[tid],
-        epa_horizon_in[tid],
-      )
-      if dist >= 0.0:
-        count = 0
-        return
-
-      for i in range(count):
-        points[i] = 0.5 * (witness1[i] + witness2[i])
-      normal = witness1[0] - witness2[0]
-      frame = make_frame(normal)
-
-    for i in range(count):
-      # limit maximum number of contacts with height field
-      if _max_contacts_height_field(ngeom, geom_type, geompair2hfgeompair, g1, g2, worldid, ncon_hfield_out):
-        return
-
-      write_contact(
-        nconmax_in,
-        dist,
-        points[i],
-        frame,
+        geoms,
+        worldid,
+        tid,
         margin,
         gap,
         condim,
@@ -382,8 +596,9 @@ def ccd_kernel_builder(
         solref,
         solreffriction,
         solimp,
-        geoms,
-        worldid,
+        geom1.pos,
+        geom2.pos,
+        0,
         ncon_out,
         contact_dist_out,
         contact_pos_out,
@@ -418,20 +633,16 @@ def convex_narrowphase(m: Model, d: Data):
   computations for non-existent pair types.
   """
   for geom_pair in _CONVEX_COLLISION_PAIRS:
-    if m.geom_pair_type_count[upper_trid_index(len(GeomType), geom_pair[0], geom_pair[1])]:
+    g1 = geom_pair[0]
+    g2 = geom_pair[1]
+    if m.geom_pair_type_count[upper_trid_index(len(GeomType), g1, g2)]:
       wp.launch(
         ccd_kernel_builder(
-          m.opt.legacy_gjk,
-          geom_pair[0],
-          geom_pair[1],
-          m.opt.gjk_iterations,
-          m.opt.epa_iterations,
-          True,
-          1e9,
+          m.opt.legacy_gjk, g1, g2, m.opt.gjk_iterations, m.opt.epa_iterations, True, 1e9, g1 == int(GeomType.HFIELD.value)
         ),
         dim=d.nconmax,
         inputs=[
-          m.ngeom,
+          m.opt.ccd_tolerance,
           m.geom_type,
           m.geom_condim,
           m.geom_dataid,
@@ -440,6 +651,8 @@ def convex_narrowphase(m: Model, d: Data):
           m.geom_solref,
           m.geom_solimp,
           m.geom_size,
+          m.geom_aabb,
+          m.geom_rbound,
           m.geom_friction,
           m.geom_margin,
           m.geom_gap,
@@ -469,12 +682,10 @@ def convex_narrowphase(m: Model, d: Data):
           m.pair_margin,
           m.pair_gap,
           m.pair_friction,
-          m.geompair2hfgeompair,
           d.nconmax,
           d.geom_xpos,
           d.geom_xmat,
           d.collision_pair,
-          d.collision_hftri_index,
           d.collision_pairid,
           d.collision_worldid,
           d.ncollision,
@@ -489,10 +700,20 @@ def convex_narrowphase(m: Model, d: Data):
           d.epa_index,
           d.epa_map,
           d.epa_horizon,
+          d.multiccd_polygon,
+          d.multiccd_clipped,
+          d.multiccd_pnormal,
+          d.multiccd_pdist,
+          d.multiccd_idx1,
+          d.multiccd_idx2,
+          d.multiccd_n1,
+          d.multiccd_n2,
+          d.multiccd_endvert,
+          d.multiccd_face1,
+          d.multiccd_face2,
         ],
         outputs=[
           d.ncon,
-          d.ncon_hfield,
           d.contact.dist,
           d.contact.pos,
           d.contact.frame,
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
index 199c0b62..2973c99b 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver.py
@@ -18,7 +18,6 @@ from typing import Any
 import warp as wp
 
 from mujoco.mjx.third_party.mujoco_warp._src.collision_convex import convex_narrowphase
-from mujoco.mjx.third_party.mujoco_warp._src.collision_hfield import hfield_midphase
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import primitive_narrowphase
 from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sdf_narrowphase
 from mujoco.mjx.third_party.mujoco_warp._src.math import upper_tri_index
@@ -37,29 +36,13 @@ wp.set_module_options({"enable_backward": False})
 
 
 @wp.kernel
-def _zero_collision_arrays(
-  # Data in:
-  nworld_in: int,
-  # In:
-  hfield_geom_pair_in: int,
+def _zero_ncon_ncollision(
   # Data out:
   ncon_out: wp.array(dtype=int),
-  ncon_hfield_out: wp.array(dtype=int),  # kernel_analyzer: ignore
-  collision_hftri_index_out: wp.array(dtype=int),
   ncollision_out: wp.array(dtype=int),
 ):
-  tid = wp.tid()
-
-  if tid == 0:
-    # Zero the single collision counter
-    ncollision_out[0] = 0
-    ncon_out[0] = 0
-
-  if tid < hfield_geom_pair_in * nworld_in:
-    ncon_hfield_out[tid] = 0
-
-  # Zero collision pair indices
-  collision_hftri_index_out[tid] = 0
+  ncollision_out[0] = 0
+  ncon_out[0] = 0
 
 
 @wp.func
@@ -316,7 +299,6 @@ def _add_geom_pair(
   nxnid: int,
   # Data out:
   collision_pair_out: wp.array(dtype=wp.vec2i),
-  collision_hftri_index_out: wp.array(dtype=int),
   collision_pairid_out: wp.array(dtype=int),
   collision_worldid_out: wp.array(dtype=int),
   ncollision_out: wp.array(dtype=int),
@@ -338,12 +320,6 @@ def _add_geom_pair(
   collision_pairid_out[pairid] = nxn_pairid[nxnid]
   collision_worldid_out[pairid] = worldid
 
-  # Writing -1 to collision_hftri_index_out[pairid] signals
-  # hfield_midphase to generate a collision pair for every
-  # potentially colliding triangle
-  if type1 == int(GeomType.HFIELD.value) or type2 == int(GeomType.HFIELD.value):
-    collision_hftri_index_out[pairid] = -1
-
 
 @wp.func
 def _binary_search(values: wp.array(dtype=Any), value: Any, lower: int, upper: int) -> int:
@@ -419,7 +395,7 @@ def _sap_range(
 
 @cache_kernel
 def _sap_broadphase(broadphase_filter):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Model:
     ngeom: int,
@@ -439,7 +415,6 @@ def _sap_broadphase(broadphase_filter):
     nsweep_in: int,
     # Data out:
     collision_pair_out: wp.array(dtype=wp.vec2i),
-    collision_hftri_index_out: wp.array(dtype=int),
     collision_pairid_out: wp.array(dtype=int),
     collision_worldid_out: wp.array(dtype=int),
     ncollision_out: wp.array(dtype=int),
@@ -485,7 +460,6 @@ def _sap_broadphase(broadphase_filter):
           worldid,
           idx,
           collision_pair_out,
-          collision_hftri_index_out,
           collision_pairid_out,
           collision_worldid_out,
           ncollision_out,
@@ -615,7 +589,6 @@ def sap_broadphase(m: Model, d: Data):
     ],
     outputs=[
       d.collision_pair,
-      d.collision_hftri_index,
       d.collision_pairid,
       d.collision_worldid,
       d.ncollision,
@@ -625,7 +598,7 @@ def sap_broadphase(m: Model, d: Data):
 
 @cache_kernel
 def _nxn_broadphase(broadphase_filter):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Model:
     geom_type: wp.array(dtype=int),
@@ -640,7 +613,6 @@ def _nxn_broadphase(broadphase_filter):
     geom_xmat_in: wp.array2d(dtype=wp.mat33),
     # Data out:
     collision_pair_out: wp.array(dtype=wp.vec2i),
-    collision_hftri_index_out: wp.array(dtype=int),
     collision_pairid_out: wp.array(dtype=int),
     collision_worldid_out: wp.array(dtype=int),
     ncollision_out: wp.array(dtype=int),
@@ -661,7 +633,6 @@ def _nxn_broadphase(broadphase_filter):
         worldid,
         elementid,
         collision_pair_out,
-        collision_hftri_index_out,
         collision_pairid_out,
         collision_worldid_out,
         ncollision_out,
@@ -702,7 +673,6 @@ def nxn_broadphase(m: Model, d: Data):
     ],
     outputs=[
       d.collision_pair,
-      d.collision_hftri_index,
       d.collision_pairid,
       d.collision_worldid,
       d.ncollision,
@@ -711,10 +681,6 @@ def nxn_broadphase(m: Model, d: Data):
 
 
 def _narrowphase(m, d):
-  # Process heightfield collisions
-  if m.nhfield > 0:
-    hfield_midphase(m, d)
-
   # TODO(team): we should reject far-away contacts in the narrowphase instead of constraint
   #             partitioning because we can move some pressure of the atomics
   convex_narrowphase(m, d)
@@ -743,19 +709,8 @@ def collision(m: Model, d: Data):
   via `m.opt.disableflags` or if `d.nconmax` is 0.
   """
 
-  # zero collision-related arrays
-  wp.launch(
-    _zero_collision_arrays,
-    dim=d.nconmax,
-    inputs=[
-      d.nworld,
-      d.ncon_hfield.shape[1],
-      d.ncon,
-      d.ncon_hfield.reshape(-1),
-      d.collision_hftri_index,
-      d.ncollision,
-    ],
-  )
+  # zero contact and collision counters
+  wp.launch(_zero_ncon_ncollision, dim=1, outputs=[d.ncon, d.ncollision])
 
   if d.nconmax == 0 or m.opt.disableflags & (DisableBit.CONSTRAINT | DisableBit.CONTACT):
     return
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver_test.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver_test.py
index 7df19a84..2003c8a5 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver_test.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_driver_test.py
@@ -25,6 +25,24 @@ from mujoco.mjx.third_party.mujoco_warp.test_data.collision_sdf.utils import reg
 
 from mujoco.mjx.third_party.mujoco_warp._src import test_util
 from mujoco.mjx.third_party.mujoco_warp._src import types
+from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import VolumeData
+from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sample_volume_sdf
+
+
+@wp.kernel
+def sample_sdf_kernel(
+  # In:
+  points: wp.array(dtype=wp.vec3),
+  volume_data: VolumeData,
+  # Out:
+  results_out: wp.array(dtype=float),
+):
+  """Kernel to sample SDF values at given points using Warp volume."""
+  tid = wp.tid()
+  point = points[tid]
+  sdf_value = sample_volume_sdf(point, volume_data)
+  results_out[tid] = sdf_value
+
 
 _TOLERANCE = 5e-5
 
@@ -599,7 +617,8 @@ class CollisionTest(parameterized.TestCase):
     self.assertEqual(m.nxn_geom_pair.numpy().shape[0], 3)
     np.testing.assert_equal(m.nxn_pairid.numpy(), np.array([-2, -1, -1]))
 
-  def test_contact_pair(self):
+  @parameterized.parameters(list(types.BroadphaseType))
+  def test_contact_pair(self, broadphase):
     """Tests contact pair."""
     # no pairs
     _, _, m, _ = test_util.fixture(
@@ -612,7 +631,8 @@ class CollisionTest(parameterized.TestCase):
           </body>
         </worldbody>
       </mujoco>
-    """
+    """,
+      broadphase=broadphase,
     )
     self.assertTrue((m.nxn_pairid.numpy() == -1).all())
 
@@ -798,8 +818,6 @@ class CollisionTest(parameterized.TestCase):
     np.testing.assert_allclose(d.contact.solreffriction.numpy()[1], np.array([2.0, 4.0]))
     np.testing.assert_allclose(d.contact.solimp.numpy()[1], np.array([0.1, 0.2, 0.3, 0.4, 0.5]))
 
-    # TODO(team): test sap_broadphase
-
   @parameterized.parameters(
     (True, True),
     (True, False),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py
index 969e638e..a4345e62 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk.py
@@ -13,15 +13,16 @@
 # limitations under the License.
 # ==============================================================================
 
+from typing import Tuple
+
 import warp as wp
 
-from mujoco.mjx.third_party.mujoco_warp._src.collision_hfield import hfield_prism_vertex
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import Geom
 from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
 from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
 
 # TODO(team): improve compile time to enable backward pass
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 FLOAT_MIN = -1e30
 FLOAT_MAX = 1e30
@@ -31,13 +32,6 @@ MJ_MINVAL2 = MJ_MINVAL * MJ_MINVAL
 FACE_TOL = 0.99999872
 EDGE_TOL = 0.00159999931
 
-MAX_POLYVERT = 15
-polyverts = wp.types.matrix(shape=(MAX_POLYVERT, 3), dtype=float)
-polyclip = wp.types.matrix(shape=(2 * MAX_POLYVERT, 3), dtype=float)
-polyvec = wp.types.vector(MAX_POLYVERT, dtype=float)
-polyindices = wp.types.vector(MAX_POLYVERT, dtype=int)
-
-
 mat43 = wp.types.matrix(shape=(4, 3), dtype=float)
 mat63 = wp.types.matrix(shape=(6, 3), dtype=float)
 
@@ -95,14 +89,14 @@ class SupportPoint:
 
 
 @wp.func
-def _discrete_geoms(g1: int, g2: int):
+def _discrete_geoms(g1: int, g2: int) -> bool:
   return (g1 == int(GeomType.MESH.value) or g1 == int(GeomType.BOX.value) or g1 == int(GeomType.HFIELD.value)) and (
     g2 == int(GeomType.MESH.value) or g2 == int(GeomType.BOX.value) or g2 == int(GeomType.HFIELD.value)
   )
 
 
 @wp.func
-def _support_margin(geom: Geom, geomtype: int, dir: wp.vec3):
+def _support_margin(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
   sp = SupportPoint()
   sp.cached_index = -1
   sp.vertex_index = -1
@@ -118,7 +112,7 @@ def _support_margin(geom: Geom, geomtype: int, dir: wp.vec3):
 
 
 @wp.func
-def _support(geom: Geom, geomtype: int, dir: wp.vec3):
+def _support(geom: Geom, geomtype: int, dir: wp.vec3) -> SupportPoint:
   sp = SupportPoint()
   sp.cached_index = -1
   sp.vertex_index = -1
@@ -204,7 +198,7 @@ def _support(geom: Geom, geomtype: int, dir: wp.vec3):
   elif geomtype == int(GeomType.HFIELD.value):
     max_dist = float(FLOAT_MIN)
     for i in range(6):
-      vert = hfield_prism_vertex(geom.hfprism, i)
+      vert = geom.hfprism[i]
       dist = wp.dot(vert, local_dir)
       if dist > max_dist:
         max_dist = dist
@@ -215,7 +209,7 @@ def _support(geom: Geom, geomtype: int, dir: wp.vec3):
 
 
 @wp.func
-def _attach_face(pt: Polytope, idx: int, v1: int, v2: int, v3: int):
+def _attach_face(pt: Polytope, idx: int, v1: int, v2: int, v3: int) -> float:
   # out of memory, returning 0 will force EPA to return early without contact
   if pt.nface == pt.face.shape[0]:
     return 0.0
@@ -235,7 +229,9 @@ def _attach_face(pt: Polytope, idx: int, v1: int, v2: int, v3: int):
 
 
 @wp.func
-def _epa_support(pt: Polytope, idx: int, geom1: Geom, geom2: Geom, geom1_type: int, geom2_type: int, dir: wp.vec3):
+def _epa_support(
+  pt: Polytope, idx: int, geom1: Geom, geom2: Geom, geom1_type: int, geom2_type: int, dir: wp.vec3
+) -> Tuple[int, int]:
   sp = _support(geom1, geom1_type, dir)
   pt.vert1[idx] = sp.point
   pt.vert_index1[idx] = sp.vertex_index
@@ -252,7 +248,7 @@ def _epa_support(pt: Polytope, idx: int, geom1: Geom, geom2: Geom, geom1_type: i
 
 
 @wp.func
-def _linear_combine(n: int, coefs: wp.vec4, mat: mat43):
+def _linear_combine(n: int, coefs: wp.vec4, mat: mat43) -> wp.vec3:
   v = wp.vec3(0.0)
   if n == 1:
     v = coefs[0] * mat[0]
@@ -266,12 +262,12 @@ def _linear_combine(n: int, coefs: wp.vec4, mat: mat43):
 
 
 @wp.func
-def _almost_equal(v1: wp.vec3, v2: wp.vec3):
+def _almost_equal(v1: wp.vec3, v2: wp.vec3) -> bool:
   return wp.abs(v1[0] - v2[0]) < MJ_MINVAL and wp.abs(v1[1] - v2[1]) < MJ_MINVAL and wp.abs(v1[2] - v2[2]) < MJ_MINVAL
 
 
 @wp.func
-def _subdistance(n: int, simplex: mat43):
+def _subdistance(n: int, simplex: mat43) -> wp.vec4:
   if n == 4:
     return _S3D(simplex[0], simplex[1], simplex[2], simplex[3])
   if n == 3:
@@ -284,12 +280,12 @@ def _subdistance(n: int, simplex: mat43):
 
 
 @wp.func
-def _det3(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3):
+def _det3(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3) -> float:
   return wp.dot(v1, wp.cross(v2, v3))
 
 
 @wp.func
-def _same_sign(a: float, b: float):
+def _same_sign(a: float, b: float) -> int:
   if a > 0 and b > 0:
     return 1
   if a < 0 and b < 0:
@@ -298,14 +294,14 @@ def _same_sign(a: float, b: float):
 
 
 @wp.func
-def _project_origin_line(v1: wp.vec3, v2: wp.vec3):
+def _project_origin_line(v1: wp.vec3, v2: wp.vec3) -> wp.vec3:
   diff = v2 - v1
   scl = -(wp.dot(v2, diff) / wp.dot(diff, diff))
   return v2 + scl * diff
 
 
 @wp.func
-def _project_origin_plane(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3):
+def _project_origin_plane(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3) -> Tuple[wp.vec3, int]:
   z = wp.vec3(0.0)
   diff21 = v2 - v1
   diff31 = v3 - v1
@@ -340,7 +336,7 @@ def _project_origin_plane(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3):
 
 
 @wp.func
-def _S3D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3, s4: wp.vec3):
+def _S3D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3, s4: wp.vec3) -> wp.vec4:
   #  [[ s1_x, s2_x, s3_x, s4_x ],
   #   [ s1_y, s2_y, s3_y, s4_y ],
   #   [ s1_z, s2_z, s3_z, s4_z ],
@@ -416,7 +412,7 @@ def _S3D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3, s4: wp.vec3):
 
 
 @wp.func
-def _S2D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3):
+def _S2D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3) -> wp.vec3:
   # project origin onto affine hull of the simplex
   p_o, ret = _project_origin_plane(s1, s2, s3)
   if ret:
@@ -561,7 +557,7 @@ def _S2D(s1: wp.vec3, s2: wp.vec3, s3: wp.vec3):
 
 
 @wp.func
-def _S1D(s1: wp.vec3, s2: wp.vec3):
+def _S1D(s1: wp.vec3, s2: wp.vec3) -> wp.vec2:
   # find projection of origin onto the 1-simplex:
   p_o = _project_origin_line(s1, s2)
 
@@ -584,7 +580,7 @@ def _S1D(s1: wp.vec3, s2: wp.vec3):
 
 
 @wp.func
-def _gjk(
+def gjk(
   # In:
   tolerance: float,
   gjk_iterations: int,
@@ -596,7 +592,7 @@ def _gjk(
   geomtype2: int,
   cutoff: float,
   use_margin: bool,
-):
+) -> GJKResult:
   """Find distance within a tolerance between two geoms."""
   is_discrete = _discrete_geoms(geomtype1, geomtype2)
   cutoff2 = cutoff * cutoff
@@ -710,7 +706,7 @@ def _gjk(
 
 
 @wp.func
-def _same_side(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3):
+def _same_side(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3) -> bool:
   n = wp.cross(p1 - p0, p2 - p0)
   dot1 = wp.dot(n, p3 - p0)
   dot2 = wp.dot(n, -p0)
@@ -718,12 +714,12 @@ def _same_side(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3):
 
 
 @wp.func
-def _test_tetra(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3):
+def _test_tetra(p0: wp.vec3, p1: wp.vec3, p2: wp.vec3, p3: wp.vec3) -> bool:
   return _same_side(p0, p1, p2, p3) and _same_side(p1, p2, p3, p0) and _same_side(p2, p3, p0, p1) and _same_side(p3, p0, p1, p2)
 
 
 @wp.func
-def _tri_affine_coord(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3):
+def _tri_affine_coord(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3) -> wp.vec3:
   # compute minors as in S2D
   M_14 = v2[1] * v3[2] - v2[2] * v3[1] - v1[1] * v3[2] + v1[2] * v3[1] + v1[1] * v2[2] - v1[2] * v2[1]
   M_24 = v2[0] * v3[2] - v2[2] * v3[0] - v1[0] * v3[2] + v1[2] * v3[0] + v1[0] * v2[2] - v1[2] * v2[0]
@@ -766,7 +762,7 @@ def _tri_affine_coord(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3):
 
 
 @wp.func
-def _tri_point_intersect(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3):
+def _tri_point_intersect(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3) -> bool:
   coordinates = _tri_affine_coord(v1, v2, v3, p)
   l1 = coordinates[0]
   l2 = coordinates[1]
@@ -783,7 +779,7 @@ def _tri_point_intersect(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, p: wp.vec3):
 
 
 @wp.func
-def _replace_simplex3(pt: Polytope, v1: int, v2: int, v3: int):
+def _replace_simplex3(pt: Polytope, v1: int, v2: int, v3: int) -> GJKResult:
   result = GJKResult()
 
   # reset GJK simplex
@@ -822,7 +818,7 @@ def _replace_simplex3(pt: Polytope, v1: int, v2: int, v3: int):
 
 
 @wp.func
-def _rotmat(axis: wp.vec3):
+def _rotmat(axis: wp.vec3) -> wp.mat33:
   n = wp.norm_l2(axis)
   u1 = axis[0] / n
   u2 = axis[1] / n
@@ -844,7 +840,7 @@ def _rotmat(axis: wp.vec3):
 
 
 @wp.func
-def _ray_triangle(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, v4: wp.vec3, v5: wp.vec3):
+def _ray_triangle(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, v4: wp.vec3, v5: wp.vec3) -> int:
   vol1 = _det3(v3 - v1, v4 - v1, v2 - v1)
   vol2 = _det3(v4 - v1, v5 - v1, v2 - v1)
   vol3 = _det3(v5 - v1, v3 - v1, v2 - v1)
@@ -857,7 +853,7 @@ def _ray_triangle(v1: wp.vec3, v2: wp.vec3, v3: wp.vec3, v4: wp.vec3, v5: wp.vec
 
 
 @wp.func
-def _add_edge(pt: Polytope, e1: int, e2: int):
+def _add_edge(pt: Polytope, e1: int, e2: int) -> int:
   n = pt.nhorizon
 
   if n < 0:
@@ -881,7 +877,7 @@ def _add_edge(pt: Polytope, e1: int, e2: int):
 
 
 @wp.func
-def _delete_face(pt: Polytope, face_id: int):
+def _delete_face(pt: Polytope, face_id: int) -> int:
   index = pt.face_index[face_id]
   # delete from map
   if index >= 0:
@@ -895,7 +891,7 @@ def _delete_face(pt: Polytope, face_id: int):
 
 
 @wp.func
-def _epa_witness(pt: Polytope, face_idx: int):
+def _epa_witness(pt: Polytope, face_idx: int) -> Tuple[wp.vec3, wp.vec3]:
   # compute affine coordinates for witness points on plane defined by face
   v1 = pt.vert[pt.face[face_idx][0]]
   v2 = pt.vert[pt.face[face_idx][1]]
@@ -941,7 +937,7 @@ def _polytope2(
   geom2: Geom,
   geomtype1: int,
   geomtype2: int,
-):
+) -> Tuple[Polytope, GJKResult]:
   """Create polytope for EPA given a 1-simplex from GJK"""
   diff = simplex[1] - simplex[0]
 
@@ -1040,7 +1036,7 @@ def _polytope3(
   geom2: Geom,
   geomtype1: int,
   geomtype2: int,
-):
+) -> Polytope:
   """Create polytope for EPA given a 2-simplex from GJK"""
   # get normals in both directions
   n = wp.cross(simplex[1] - simplex[0], simplex[2] - simplex[0])
@@ -1140,7 +1136,7 @@ def _polytope4(
   geom2: Geom,
   geomtype1: int,
   geomtype2: int,
-):
+) -> Tuple[Polytope, GJKResult]:
   """Create polytope for EPA given a 3-simplex from GJK"""
   pt.vert[0] = simplex[0]
   pt.vert[1] = simplex[1]
@@ -1202,14 +1198,16 @@ def _polytope4(
 
 
 @wp.func
-def _epa(tolerance: float, epa_iterations: int, pt: Polytope, geom1: Geom, geom2: Geom, geomtype1: int, geomtype2: int):
+def _epa(
+  tolerance: float, epa_iterations: int, pt: Polytope, geom1: Geom, geom2: Geom, geomtype1: int, geomtype2: int
+) -> Tuple[float, wp.vec3, wp.vec3, int]:
   """Recover penetration data from two geoms in contact given an initial polytope."""
   is_discrete = _discrete_geoms(geomtype1, geomtype2)
   upper = FLOAT_MAX
   upper2 = FLOAT_MAX
   idx = int(-1)
   pidx = int(-1)
-  epsilon = wp.where(is_discrete, 1e-15, tolerance * tolerance)
+  epsilon = wp.where(is_discrete, 1e-15, tolerance)
 
   for k in range(epa_iterations):
     pidx = int(idx)
@@ -1311,19 +1309,19 @@ def _epa(tolerance: float, epa_iterations: int, pt: Polytope, geom1: Geom, geom2
 
 
 @wp.func
-def _area4(a: wp.vec3, b: wp.vec3, c: wp.vec3, d: wp.vec3):
+def _area4(a: wp.vec3, b: wp.vec3, c: wp.vec3, d: wp.vec3) -> float:
   """Computes area of a quadrilateral embedded in 3D space."""
   return 0.5 * wp.norm_l2(wp.cross(a - d, d - b) + wp.cross(b - c, c - a))
 
 
 @wp.func
-def _next(n: int, i: int):
+def _next(n: int, i: int) -> int:
   """Returns (i + 1) mod n for 0 <= i <= n - 1."""
   return wp.where(i == n - 1, 0, i + 1)
 
 
 @wp.func
-def _polygon_quad(polygon: polyclip, npolygon: int):
+def _polygon_quad(polygon: wp.array(dtype=wp.vec3), npolygon: int) -> wp.vec4i:
   """Returns the indices of a quadrilateral of maximum area in a convex polygon."""
   b = _next(npolygon, 0)
   c = _next(npolygon, b)
@@ -1363,7 +1361,9 @@ def _polygon_quad(polygon: polyclip, npolygon: int):
 
 # return number (1, 2 or 3) of dimensions of a simplex; reorder vertices if necessary
 @wp.func
-def _feature_dim(face: wp.vec3i, vert_index: wp.array(dtype=int), vert: wp.array(dtype=wp.vec3)):
+def _feature_dim(
+  face: wp.vec3i, vert_index: wp.array(dtype=int), vert: wp.array(dtype=wp.vec3)
+) -> Tuple[int, wp.vec3i, wp.mat33]:
   v1i = vert_index[face[0]]
   v2i = vert_index[face[1]]
   v3i = vert_index[face[2]]
@@ -1387,7 +1387,9 @@ def _feature_dim(face: wp.vec3i, vert_index: wp.array(dtype=int), vert: wp.array
 
 # find two normals that are facing each other within a tolerance, return 1 if found
 @wp.func
-def _aligned_faces(vert1: polyverts, len1: int, vert2: polyverts, len2: int):
+def _aligned_faces(
+  vert1: wp.array(dtype=wp.vec3), len1: int, vert2: wp.array(dtype=wp.vec3), len2: int
+) -> Tuple[int, wp.vec2i]:
   res = wp.vec2i()
   for i in range(len1):
     for j in range(len2):
@@ -1401,7 +1403,9 @@ def _aligned_faces(vert1: polyverts, len1: int, vert2: polyverts, len2: int):
 # find two normals that are perpendicular to each other within a tolerance
 # return 1 if found
 @wp.func
-def _aligned_face_edge(edge: polyverts, nedge: int, face: polyverts, nface: int):
+def _aligned_face_edge(
+  edge: wp.array(dtype=wp.vec3), nedge: int, face: wp.array(dtype=wp.vec3), nface: int
+) -> Tuple[int, wp.vec2i]:
   res = wp.vec2i()
   for i in range(nface):
     for j in range(nedge):
@@ -1414,7 +1418,9 @@ def _aligned_face_edge(edge: polyverts, nedge: int, face: polyverts, nface: int)
 
 # find up to n <= 2 common integers of two arrays, return n
 @wp.func
-def _intersect1(a1: wp.array(dtype=int), a2: wp.array(dtype=int), start1: int, start2: int, len1: int, len2: int):
+def _intersect1(
+  a1: wp.array(dtype=int), a2: wp.array(dtype=int), start1: int, start2: int, len1: int, len2: int
+) -> Tuple[int, wp.vec2i]:
   count = int(0)
   res = wp.vec2i()
   for i in range(start1, start1 + len1):
@@ -1428,7 +1434,7 @@ def _intersect1(a1: wp.array(dtype=int), a2: wp.array(dtype=int), start1: int, s
 
 
 @wp.func
-def _intersect2(a1: wp.vec2i, a2: wp.array(dtype=int), start2: int, len1: int, len2: int):
+def _intersect2(a1: wp.vec2i, a2: wp.array(dtype=int), start2: int, len1: int, len2: int) -> Tuple[int, wp.vec2i]:
   count = int(0)
   res = wp.vec2i()
   for i in range(len1):
@@ -1454,10 +1460,10 @@ def _mesh_normals(
   polymapadr: wp.array(dtype=int),
   polymapnum: wp.array(dtype=int),
   polymap: wp.array(dtype=int),
-):
-  normals = polyverts()
-  indices = polyindices()
-
+  # Out:
+  normals_out: wp.array(dtype=wp.vec3),
+  indices_out: wp.array(dtype=int),
+) -> int:
   v1 = feature_index[0]
   v2 = feature_index[1]
   v3 = feature_index[2]
@@ -1474,15 +1480,15 @@ def _mesh_normals(
     faceset = wp.vec2i()
     n, edgeset = _intersect1(polymap, polymap, v1_adr, v2_adr, v1_num, v2_num)
     if n == 0:
-      return 0, normals, indices
+      return 0
     n, faceset = _intersect2(edgeset, polymap, v3_adr, n, v3_num)
     if n == 0:
-      return 0, normals, indices
+      return 0
 
     # three vertices on mesh define a unique face
-    normals[0] = mat @ polynormal[polyadr + faceset[0]]
-    indices[0] = faceset[0]
-    return 1, normals, indices
+    normals_out[0] = mat @ polynormal[polyadr + faceset[0]]
+    indices_out[0] = faceset[0]
+    return 1
 
   if feature_dim == 2:
     v1_adr = polymapadr[vertadr + v1]
@@ -1494,22 +1500,21 @@ def _mesh_normals(
     # up to two faces as two vertices define an edge
     n, edgeset = _intersect1(polymap, polymap, v1_adr, v2_adr, v1_num, v2_num)
     if n == 0:
-      return 0, normals, indices
+      return 0
     for i in range(n):
-      normals[i] = mat @ polynormal[polyadr + edgeset[i]]
-      indices[i] = edgeset[i]
-    return n, normals, indices
+      normals_out[i] = mat @ polynormal[polyadr + edgeset[i]]
+      indices_out[i] = edgeset[i]
+    return n
 
   if feature_dim == 1:
     v1_adr = polymapadr[vertadr + v1]
     v1_num = polymapnum[vertadr + v1]
-    v1_num = wp.where(v1_num <= MAX_POLYVERT, v1_num, MAX_POLYVERT)
     for i in range(v1_num):
       index = polymap[v1_adr + i]
-      normals[i] = mat @ polynormal[polyadr + index]
-      indices[i] = index
-    return v1_num, normals, indices
-  return 0, normals, indices
+      normals_out[i] = mat @ polynormal[polyadr + index]
+      indices_out[i] = index
+    return v1_num
+  return 0
 
 
 # compute normal directional vectors along possible edges given by up to two vertices
@@ -1531,20 +1536,19 @@ def _mesh_edge_normals(
   v1: wp.vec3,
   v2: wp.vec3,
   v1i: int,
-):
-  normals = polyverts()
-  endverts = polyverts()
-
+  # Out:
+  normals_out: wp.array(dtype=wp.vec3),
+  endverts_out: wp.array(dtype=wp.vec3),
+) -> int:
   # only one edge
   if dim == 2:
-    endverts[0] = v2
-    normals[0] = wp.normalize(v2 - v1)
-    return 1, normals, endverts
+    endverts_out[0] = v2
+    normals_out[0] = wp.normalize(v2 - v1)
+    return 1
 
   if dim == 1:
     v1_adr = polymapadr[vertadr + v1i]
     v1_num = polymapnum[vertadr + v1i]
-    v1_num = wp.where(v1_num <= MAX_POLYVERT, v1_num, MAX_POLYVERT)
 
     # loop through all faces with vertex v1
     for i in range(v1_num):
@@ -1555,18 +1559,22 @@ def _mesh_edge_normals(
       for j in range(nvert):
         if polyvert[adr + j] == v1i:
           k = wp.where(j == 0, nvert - 1, j - 1)
-          endverts[i] = mat @ vert[vertadr + polyvert[adr + k]] + pos
-          normals[i] = wp.normalize(endverts[i] - v1)
-    return v1_num, normals, endverts
-  return 0, normals, endverts
+          endverts_out[i] = mat @ vert[vertadr + polyvert[adr + k]] + pos
+          normals_out[i] = wp.normalize(endverts_out[i] - v1)
+    return v1_num
+  return 0
 
 
 # try recovering box normal from collision normal
 @wp.func
-def _box_normals2(mat: wp.mat33, n: wp.vec3):
-  normals = polyverts()
-  indices = polyindices()
-
+def _box_normals2(
+  # In:
+  mat: wp.mat33,
+  n: wp.vec3,
+  # Out:
+  normal_out: wp.array(dtype=wp.vec3),
+  index_out: wp.array(dtype=int),
+) -> int:
   # list of box face normals
   face_normals = mat63(1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0)
 
@@ -1583,19 +1591,25 @@ def _box_normals2(mat: wp.mat33, n: wp.vec3):
   # determine if there is a side close to the normal
   for i in range(6):
     if wp.dot(local_n, face_normals[i]) > FACE_TOL:
-      normals[0] = mat @ face_normals[i]
-      indices[0] = i
-      return 1, normals, indices
+      normal_out[0] = mat @ face_normals[i]
+      index_out[0] = i
+      return 1
 
-  return 0, normals, indices
+  return 0
 
 
 # compute possible face normals of a box given up to 3 vertices
 @wp.func
-def _box_normals(feature_dim: int, feature_index: wp.vec3i, mat: wp.mat33, dir: wp.vec3):
-  normals = polyverts()
-  indices = polyindices()
-
+def _box_normals(
+  # In:
+  feature_dim: int,
+  feature_index: wp.vec3i,
+  mat: wp.mat33,
+  dir: wp.vec3,
+  # Out:
+  normal_out: wp.array(dtype=wp.vec3),
+  index_out: wp.array(dtype=int),
+) -> int:
   v1 = feature_index[0]
   v2 = feature_index[1]
   v3 = feature_index[2]
@@ -1605,67 +1619,76 @@ def _box_normals(feature_dim: int, feature_index: wp.vec3i, mat: wp.mat33, dir:
     x = float((v1 & 1) and (v2 & 1) and (v3 & 1)) - float(not (v1 & 1) and not (v2 & 1) and not (v3 & 1))
     y = float((v1 & 2) and (v2 & 2) and (v3 & 2)) - float(not (v1 & 2) and not (v2 & 2) and not (v3 & 2))
     z = float((v1 & 4) and (v2 & 4) and (v3 & 4)) - float(not (v1 & 4) and not (v2 & 4) and not (v3 & 4))
-    normals[0] = mat @ wp.vec3(x, y, z)
+    normal_out[0] = mat @ wp.vec3(x, y, z)
     sgn = x + y + z
     if x != 0.0:
-      indices[c] = 0
+      index_out[c] = 0
       c += 1
     if y != 0.0:
-      indices[c] = 2
+      index_out[c] = 2
       c += 1
     if z != 0.0:
-      indices[c] = 4
+      index_out[c] = 4
       c += 1
     if sgn == -1.0:
-      indices[0] = indices[0] + 1
+      index_out[0] = index_out[0] + 1
     if c == 1:
-      return 1, normals, indices
-    return _box_normals2(mat, dir)
+      return 1
+    return _box_normals2(mat, dir, normal_out, index_out)
   if feature_dim == 2:
     c = 0
     x = float((v1 & 1) and (v2 & 1)) - float(not (v1 & 1) and not (v2 & 1))
     y = float((v1 & 2) and (v2 & 2)) - float(not (v1 & 2) and not (v2 & 2))
     z = float((v1 & 4) and (v2 & 4)) - float(not (v1 & 4) and not (v2 & 4))
     if x != 0.0:
-      normals[c] = mat @ wp.vec3(float(x), 0.0, 0.0)
-      indices[c] = wp.where(x > 0.0, 0, 1)
+      normal_out[c] = mat @ wp.vec3(float(x), 0.0, 0.0)
+      index_out[c] = wp.where(x > 0.0, 0, 1)
       c += 1
     if y != 0.0:
-      normals[c] = mat @ wp.vec3(0.0, y, 0.0)
-      indices[c] = wp.where(y > 0.0, 2, 3)
+      normal_out[c] = mat @ wp.vec3(0.0, y, 0.0)
+      index_out[c] = wp.where(y > 0.0, 2, 3)
       c += 1
     if z != 0.0:
-      normals[c] = mat @ wp.vec3(0.0, 0.0, z)
-      indices[c] = wp.where(z > 0.0, 4, 5)
+      normal_out[c] = mat @ wp.vec3(0.0, 0.0, z)
+      index_out[c] = wp.where(z > 0.0, 4, 5)
       c += 1
     if c == 2:
-      return 2, normals, indices
-    return _box_normals2(mat, dir)
+      return 2
+    return _box_normals2(mat, dir, normal_out, index_out)
 
   if feature_dim == 1:
     x = wp.where(v1 & 1, 1.0, -1.0)
     y = wp.where(v1 & 2, 1.0, -1.0)
     z = wp.where(v1 & 4, 1.0, -1.0)
-    normals[0] = mat @ wp.vec3(x, 0.0, 0.0)
-    normals[1] = mat @ wp.vec3(0.0, y, 0.0)
-    normals[2] = mat @ wp.vec3(0.0, 0.0, z)
-    indices[0] = wp.where(x > 0.0, 0, 1)
-    indices[1] = wp.where(y > 0.0, 2, 3)
-    indices[2] = wp.where(z > 0.0, 4, 5)
-    return 3, normals, indices
-  return 0, normals, indices
+    normal_out[0] = mat @ wp.vec3(x, 0.0, 0.0)
+    normal_out[1] = mat @ wp.vec3(0.0, y, 0.0)
+    normal_out[2] = mat @ wp.vec3(0.0, 0.0, z)
+    index_out[0] = wp.where(x > 0.0, 0, 1)
+    index_out[1] = wp.where(y > 0.0, 2, 3)
+    index_out[2] = wp.where(z > 0.0, 4, 5)
+    return 3
+  return 0
 
 
 # compute possible edge normals for box for edge collisions
 @wp.func
-def _box_edge_normals(dim: int, mat: wp.mat33, pos: wp.vec3, size: wp.vec3, v1: wp.vec3, v2: wp.vec3, v1i: int):
-  normals = polyverts()
-  endverts = polyverts()
-
+def _box_edge_normals(
+  # In:
+  dim: int,
+  mat: wp.mat33,
+  pos: wp.vec3,
+  size: wp.vec3,
+  v1: wp.vec3,
+  v2: wp.vec3,
+  v1i: int,
+  # Out:
+  normal_out: wp.array(dtype=wp.vec3),
+  endvert_out: wp.array(dtype=wp.vec3),
+) -> int:
   if dim == 2:
-    endverts[0] = v2
-    normals[0] = wp.normalize(v2 - v1)
-    return 1, normals, endverts
+    endvert_out[0] = v2
+    normal_out[0] = wp.normalize(v2 - v1)
+    return 1
 
   # return 3 adjacent vertices
   if dim == 1:
@@ -1673,61 +1696,59 @@ def _box_edge_normals(dim: int, mat: wp.mat33, pos: wp.vec3, size: wp.vec3, v1:
     y = wp.where(v1i & 2, size[1], -size[1])
     z = wp.where(v1i & 4, size[2], -size[2])
 
-    endverts[0] = mat @ wp.vec3(-x, y, z) + pos
-    normals[0] = wp.normalize(endverts[0] - v1)
+    endvert_out[0] = mat @ wp.vec3(-x, y, z) + pos
+    normal_out[0] = wp.normalize(endvert_out[0] - v1)
 
-    endverts[1] = mat @ wp.vec3(x, -y, z) + pos
-    normals[1] = wp.normalize(endverts[1] - v1)
+    endvert_out[1] = mat @ wp.vec3(x, -y, z) + pos
+    normal_out[1] = wp.normalize(endvert_out[1] - v1)
 
-    endverts[2] = mat @ wp.vec3(x, y, -z) + pos
-    normals[2] = wp.normalize(endverts[2] - v1)
-    return 3, normals, endverts
-  return 0, normals, endverts
+    endvert_out[2] = mat @ wp.vec3(x, y, -z) + pos
+    normal_out[2] = wp.normalize(endvert_out[2] - v1)
+    return 3
+  return 0
 
 
 # recover face of a box from its index
 @wp.func
-def _box_face(mat: wp.mat33, pos: wp.vec3, size: wp.vec3, idx: int):
-  res = polyverts()
-
+def _box_face(mat: wp.mat33, pos: wp.vec3, size: wp.vec3, idx: int, face_out: wp.array(dtype=wp.vec3)) -> int:
   # compute global coordinates of the box face and face normal
   if idx == 0:  # right
-    res[0] = mat @ wp.vec(size[0], size[1], size[2]) + pos
-    res[1] = mat @ wp.vec(size[0], size[1], -size[2]) + pos
-    res[2] = mat @ wp.vec(size[0], -size[1], -size[2]) + pos
-    res[3] = mat @ wp.vec(size[0], -size[1], size[2]) + pos
-    return 4, res
+    face_out[0] = mat @ wp.vec(size[0], size[1], size[2]) + pos
+    face_out[1] = mat @ wp.vec(size[0], size[1], -size[2]) + pos
+    face_out[2] = mat @ wp.vec(size[0], -size[1], -size[2]) + pos
+    face_out[3] = mat @ wp.vec(size[0], -size[1], size[2]) + pos
+    return 4
   if idx == 1:  # left
-    res[0] = mat @ wp.vec(-size[0], size[1], -size[2]) + pos
-    res[1] = mat @ wp.vec(-size[0], size[1], size[2]) + pos
-    res[2] = mat @ wp.vec(-size[0], -size[1], size[2]) + pos
-    res[3] = mat @ wp.vec(-size[0], -size[1], -size[2]) + pos
-    return 4, res
+    face_out[0] = mat @ wp.vec(-size[0], size[1], -size[2]) + pos
+    face_out[1] = mat @ wp.vec(-size[0], size[1], size[2]) + pos
+    face_out[2] = mat @ wp.vec(-size[0], -size[1], size[2]) + pos
+    face_out[3] = mat @ wp.vec(-size[0], -size[1], -size[2]) + pos
+    return 4
   if idx == 2:  # top
-    res[0] = mat @ wp.vec(-size[0], size[1], -size[2]) + pos
-    res[1] = mat @ wp.vec(size[0], size[1], -size[2]) + pos
-    res[2] = mat @ wp.vec(size[0], size[1], size[2]) + pos
-    res[3] = mat @ wp.vec(-size[0], size[1], size[2]) + pos
-    return 4, res
+    face_out[0] = mat @ wp.vec(-size[0], size[1], -size[2]) + pos
+    face_out[1] = mat @ wp.vec(size[0], size[1], -size[2]) + pos
+    face_out[2] = mat @ wp.vec(size[0], size[1], size[2]) + pos
+    face_out[3] = mat @ wp.vec(-size[0], size[1], size[2]) + pos
+    return 4
   if idx == 3:  # bottom
-    res[0] = mat @ wp.vec(-size[0], -size[1], size[2]) + pos
-    res[1] = mat @ wp.vec(size[0], -size[1], size[2]) + pos
-    res[2] = mat @ wp.vec(size[0], -size[1], -size[2]) + pos
-    res[3] = mat @ wp.vec(-size[0], -size[1], -size[2]) + pos
-    return 4, res
+    face_out[0] = mat @ wp.vec(-size[0], -size[1], size[2]) + pos
+    face_out[1] = mat @ wp.vec(size[0], -size[1], size[2]) + pos
+    face_out[2] = mat @ wp.vec(size[0], -size[1], -size[2]) + pos
+    face_out[3] = mat @ wp.vec(-size[0], -size[1], -size[2]) + pos
+    return 4
   if idx == 4:  # front
-    res[0] = mat @ wp.vec(-size[0], size[1], size[2]) + pos
-    res[1] = mat @ wp.vec(size[0], size[1], size[2]) + pos
-    res[2] = mat @ wp.vec(size[0], -size[1], size[2]) + pos
-    res[3] = mat @ wp.vec(-size[0], -size[1], size[2]) + pos
-    return 4, res
+    face_out[0] = mat @ wp.vec(-size[0], size[1], size[2]) + pos
+    face_out[1] = mat @ wp.vec(size[0], size[1], size[2]) + pos
+    face_out[2] = mat @ wp.vec(size[0], -size[1], size[2]) + pos
+    face_out[3] = mat @ wp.vec(-size[0], -size[1], size[2]) + pos
+    return 4
   if idx == 5:  # back
-    res[0] = mat @ wp.vec(size[0], size[1], -size[2]) + pos
-    res[1] = mat @ wp.vec(-size[0], size[1], -size[2]) + pos
-    res[2] = mat @ wp.vec(-size[0], -size[1], -size[2]) + pos
-    res[3] = mat @ wp.vec(size[0], -size[1], -size[2]) + pos
-    return 4, res
-  return 0, res
+    face_out[0] = mat @ wp.vec(size[0], size[1], -size[2]) + pos
+    face_out[1] = mat @ wp.vec(-size[0], size[1], -size[2]) + pos
+    face_out[2] = mat @ wp.vec(-size[0], -size[1], -size[2]) + pos
+    face_out[3] = mat @ wp.vec(size[0], -size[1], -size[2]) + pos
+    return 4
+  return 0
 
 
 # recover mesh polygon from its index, return number of edges
@@ -1743,34 +1764,33 @@ def _mesh_face(
   polyvertnum: wp.array(dtype=int),
   polyvert: wp.array(dtype=int),
   idx: int,
-):
-  res = polyverts()
-
+  # Out:
+  face_out: wp.array(dtype=wp.vec3),
+) -> int:
   adr = polyvertadr[polyadr + idx]
   j = int(0)
   nvert = polyvertnum[polyadr + idx]
-  nvert = wp.where(nvert <= MAX_POLYVERT, nvert, MAX_POLYVERT)
   for i in range(nvert - 1, -1, -1):
     v = vert[vertadr + polyvert[adr + i]]
-    res[j] = mat @ v + pos
+    face_out[j] = mat @ v + pos
     j += 1
-  return nvert, res
+  return nvert
 
 
 @wp.func
-def _plane_normal(v1: wp.vec3, v2: wp.vec3, n: wp.vec3):
+def _plane_normal(v1: wp.vec3, v2: wp.vec3, n: wp.vec3) -> Tuple[float, wp.vec3]:
   v3 = v1 + n
   res = wp.cross(v2 - v1, v3 - v1)
   return wp.dot(res, v1), res
 
 
 @wp.func
-def _halfspace(a: wp.vec3, n: wp.vec3, p: wp.vec3):
+def _halfspace(a: wp.vec3, n: wp.vec3, p: wp.vec3) -> bool:
   return wp.dot(p - a, n) > -1e-10
 
 
 @wp.func
-def _plane_intersect(pn: wp.vec3, pd: float, a: wp.vec3, b: wp.vec3):
+def _plane_intersect(pn: wp.vec3, pd: float, a: wp.vec3, b: wp.vec3) -> Tuple[float, wp.vec3]:
   res = wp.vec3()
   ab = b - a
   temp = wp.dot(pn, ab)
@@ -1786,7 +1806,20 @@ def _plane_intersect(pn: wp.vec3, pd: float, a: wp.vec3, b: wp.vec3):
 
 # clip a polygon against another polygon
 @wp.func
-def _polygon_clip(face1: polyverts, nface1: int, face2: polyverts, nface2: int, n: wp.vec3, dir: wp.vec3):
+def _polygon_clip(
+  # In:
+  plane_normal: wp.array(dtype=wp.vec3),
+  plane_dist: wp.array(dtype=float),
+  face1: wp.array(dtype=wp.vec3),
+  nface1: int,
+  face2: wp.array(dtype=wp.vec3),
+  nface2: int,
+  n: wp.vec3,
+  dir: wp.vec3,
+  # Out:
+  polygon_out: wp.array(dtype=wp.vec3),
+  clipped_out: wp.array(dtype=wp.vec3),
+) -> Tuple[int, mat3c, mat3c]:
   witness1 = mat3c()
   witness2 = mat3c()
 
@@ -1795,8 +1828,8 @@ def _polygon_clip(face1: polyverts, nface1: int, face2: polyverts, nface2: int,
     return 0, witness1, witness2
 
   # compute plane normal and distance to plane for each vertex
-  pn = polyverts()
-  pd = polyvec()
+  pn = plane_normal
+  pd = plane_dist
   for i in range(nface1 - 1):
     pdi, pni = _plane_normal(face1[i], face1[i + 1], n)
     pd[i] = pdi
@@ -1806,20 +1839,18 @@ def _polygon_clip(face1: polyverts, nface1: int, face2: polyverts, nface2: int,
   pn[nface1 - 1] = pni
 
   # reserve 2 * max_sides as max sides for a clipped polygon
-  polygon = polyclip()
-  clipped = polyclip()
   npolygon = nface2
   nclipped = int(0)
 
   for i in range(nface2):
-    polygon[i] = face2[i]
+    polygon_out[i] = face2[i]
 
   # clip the polygon by one edge e at a time
   for e in range(nface1):
     for i in range(npolygon):
       # get edge PQ of the polygon
-      P = polygon[i]
-      Q = wp.where(i < npolygon - 1, polygon[i + 1], polygon[0])
+      P = polygon_out[i]
+      Q = wp.where(i < npolygon - 1, polygon_out[i + 1], polygon_out[0])
 
       # determine if P and Q are in the halfspace of the clipping edge
       inside1 = _halfspace(face1[e], pn[e], P)
@@ -1831,25 +1862,25 @@ def _polygon_clip(face1: polyverts, nface1: int, face2: polyverts, nface2: int,
 
       # edge PQ is inside the clipping edge, add Q
       if inside1 and inside2:
-        clipped[nclipped] = Q
+        clipped_out[nclipped] = Q
         nclipped += 1
         continue
 
       # add new vertex to clipped polygon where PQ intersects the clipping edge
       t, res = _plane_intersect(pn[e], pd[e], P, Q)
       if t >= 0.0 and t <= 1.0:
-        clipped[nclipped] = res
+        clipped_out[nclipped] = res
         nclipped += 1
 
       # add Q as PQ is now back inside the clipping edge
       if inside2:
-        clipped[nclipped] = Q
+        clipped_out[nclipped] = Q
         nclipped += 1
 
     # swap clipped and polygon
-    tmp = polygon
-    polygon = clipped
-    clipped = tmp
+    tmp = polygon_out
+    polygon_out = clipped_out
+    clipped_out = tmp
     npolygon = nclipped
     nclipped = 0
 
@@ -1857,33 +1888,57 @@ def _polygon_clip(face1: polyverts, nface1: int, face2: polyverts, nface2: int,
     return 0, witness1, witness2
 
   if npolygon > 4:
-    quad = _polygon_quad(polygon, npolygon)
+    quad = _polygon_quad(polygon_out, npolygon)
     for i in range(4):
-      witness2[i] = polygon[quad[i]]
+      witness2[i] = polygon_out[quad[i]]
       witness1[i] = witness2[i] - dir
     return 4, witness1, witness2
 
   # no pruning needed
   for i in range(npolygon):
-    witness2[i] = polygon[i]
+    witness2[i] = polygon_out[i]
     witness1[i] = witness2[i] - dir
   return npolygon, witness1, witness2
 
 
+@wp.func
+def _set_edge(
+  vert1: wp.array(dtype=wp.vec3), vert2: wp.array(dtype=wp.vec3), start: int, end: int, face_out: wp.array(dtype=wp.vec3)
+) -> int:
+  face_out[0] = vert1[start]
+  face_out[1] = vert2[end]
+  return 2
+
+
 # recover multiple contacts from EPA polytope
 @wp.func
 def _multicontact(
-  pt: Polytope, face: wp.vec3i, x1: wp.vec3, x2: wp.vec3, geom1: Geom, geom2: Geom, geomtype1: int, geomtype2: int
-):
+  # In:
+  polygon: wp.array(dtype=wp.vec3),
+  clipped: wp.array(dtype=wp.vec3),
+  plane_normal: wp.array(dtype=wp.vec3),
+  plane_dist: wp.array(dtype=float),
+  idx1: wp.array(dtype=int),
+  idx2: wp.array(dtype=int),
+  n1: wp.array(dtype=wp.vec3),
+  n2: wp.array(dtype=wp.vec3),
+  endvert: wp.array(dtype=wp.vec3),
+  face1: wp.array(dtype=wp.vec3),
+  face2: wp.array(dtype=wp.vec3),
+  pt: Polytope,
+  face: wp.vec3i,
+  x1: wp.vec3,
+  x2: wp.vec3,
+  geom1: Geom,
+  geom2: Geom,
+  geomtype1: int,
+  geomtype2: int,
+) -> Tuple[int, mat3c, mat3c]:
   witness1 = mat3c()
   witness2 = mat3c()
   witness1[0] = x1
   witness2[0] = x2
 
-  face1 = polyverts()
-  face2 = polyverts()
-  endverts = polyverts()
-
   if geomtype1 == int(GeomType.MESH.value):
     vert = geom1.vert
     polynormal = geom1.mesh_polynormal
@@ -1912,16 +1967,36 @@ def _multicontact(
 
   # get all possible face normals for each geom
   if geomtype1 == int(GeomType.BOX.value):
-    nnorms1, n1, idx1 = _box_normals(nface1, feature_index1, geom1.rot, dir_neg)
+    nnorms1 = _box_normals(nface1, feature_index1, geom1.rot, dir_neg, n1, idx1)
   elif geomtype1 == int(GeomType.MESH.value):
-    nnorms1, n1, idx1 = _mesh_normals(
-      nface1, feature_index1, geom1.rot, geom1.vertadr, geom1.mesh_polyadr, polynormal, polymapadr, polymapnum, polymap
+    nnorms1 = _mesh_normals(
+      nface1,
+      feature_index1,
+      geom1.rot,
+      geom1.vertadr,
+      geom1.mesh_polyadr,
+      polynormal,
+      polymapadr,
+      polymapnum,
+      polymap,
+      n1,
+      idx1,
     )
   if geomtype2 == int(GeomType.BOX.value):
-    nnorms2, n2, idx2 = _box_normals(nface2, feature_index2, geom2.rot, dir)
+    nnorms2 = _box_normals(nface2, feature_index2, geom2.rot, dir, n2, idx2)
   elif geomtype2 == int(GeomType.MESH.value):
-    nnorms2, n2, idx2 = _mesh_normals(
-      nface2, feature_index2, geom2.rot, geom2.vertadr, geom2.mesh_polyadr, polynormal, polymapadr, polymapnum, polymap
+    nnorms2 = _mesh_normals(
+      nface2,
+      feature_index2,
+      geom2.rot,
+      geom2.vertadr,
+      geom2.mesh_polyadr,
+      polynormal,
+      polymapadr,
+      polymapnum,
+      polymap,
+      n2,
+      idx2,
     )
 
   # determine if any two face normals match
@@ -1933,11 +2008,11 @@ def _multicontact(
     if nface1 < 3 and nface1 <= nface2:
       nnorms1 = 0
       if geomtype1 == int(GeomType.BOX.value):
-        nnorms1, n1, endverts = _box_edge_normals(
-          nface1, geom1.rot, geom1.pos, geom1.size, feature_vertex1[0], feature_vertex1[1], feature_index1[0]
+        nnorms1 = _box_edge_normals(
+          nface1, geom1.rot, geom1.pos, geom1.size, feature_vertex1[0], feature_vertex1[1], feature_index1[0], n1, endvert
         )
       elif geomtype1 == int(GeomType.MESH.value):
-        nnorms1, n1, endverts = _mesh_edge_normals(
+        nnorms1 = _mesh_edge_normals(
           nface1,
           geom1.rot,
           geom1.pos,
@@ -1953,6 +2028,8 @@ def _multicontact(
           feature_vertex1[0],
           feature_vertex1[1],
           feature_index1[0],
+          n1,
+          endvert,
         )
       nres, res = _aligned_face_edge(n1, nnorms1, n2, nnorms2)
       if not nres:
@@ -1963,11 +2040,11 @@ def _multicontact(
     elif nface2 < 3:
       nnorms2 = 0
       if geomtype2 == int(GeomType.BOX.value):
-        nnorms2, n2, endverts = _box_edge_normals(
-          nface2, geom2.rot, geom2.pos, geom2.size, feature_vertex2[0], feature_vertex2[1], feature_index2[0]
+        nnorms2 = _box_edge_normals(
+          nface2, geom2.rot, geom2.pos, geom2.size, feature_vertex2[0], feature_vertex2[1], feature_index2[0], n2, endvert
         )
       elif geomtype2 == int(GeomType.MESH.value):
-        nnorms2, n2, endverts = _mesh_edge_normals(
+        nnorms2 = _mesh_edge_normals(
           nface2,
           geom2.rot,
           geom2.pos,
@@ -1983,6 +2060,8 @@ def _multicontact(
           feature_vertex2[0],
           feature_vertex2[1],
           feature_index2[0],
+          n2,
+          endvert,
         )
       nres, res = _aligned_face_edge(n2, nnorms2, n1, nnorms1)
       if not nres:
@@ -1997,29 +2076,43 @@ def _multicontact(
 
   # recover geom1 matching edge or face
   if is_edge_contact_geom1:
-    face1[0] = pt.vert1[face[0]]
-    face1[1] = endverts[i]
-    nface1 = 2
+    nface1 = _set_edge(pt.vert1, endvert, face[0], i, face1)
   else:
     ind = wp.where(is_edge_contact_geom2, idx1[j], idx1[i])
     if geomtype1 == int(GeomType.BOX.value):
-      nface1, face1 = _box_face(geom1.rot, geom1.pos, geom1.size, ind)
+      nface1 = _box_face(geom1.rot, geom1.pos, geom1.size, ind, face1)
     elif geomtype1 == int(GeomType.MESH.value):
-      nface1, face1 = _mesh_face(
-        geom1.rot, geom1.pos, geom1.vertadr, geom1.mesh_polyadr, vert, polyvertadr, polyvertnum, polyvert, ind
+      nface1 = _mesh_face(
+        geom1.rot,
+        geom1.pos,
+        geom1.vertadr,
+        geom1.mesh_polyadr,
+        vert,
+        polyvertadr,
+        polyvertnum,
+        polyvert,
+        ind,
+        face1,
       )
 
   # recover geom2 matching edge or face
   if is_edge_contact_geom2:
-    face2[0] = pt.vert2[face[0]]
-    face2[1] = endverts[i]
-    nface2 = 2
+    nface2 = _set_edge(pt.vert2, endvert, face[0], i, face2)
   else:
     if geomtype2 == int(GeomType.BOX.value):
-      nface2, face2 = _box_face(geom2.rot, geom2.pos, geom2.size, idx2[j])
+      nface2 = _box_face(geom2.rot, geom2.pos, geom2.size, idx2[j], face2)
     elif geomtype2 == int(GeomType.MESH.value):
-      nface2, face2 = _mesh_face(
-        geom2.rot, geom2.pos, geom2.vertadr, geom2.mesh_polyadr, vert, polyvertadr, polyvertnum, polyvert, idx2[j]
+      nface2 = _mesh_face(
+        geom2.rot,
+        geom2.pos,
+        geom2.vertadr,
+        geom2.mesh_polyadr,
+        vert,
+        polyvertadr,
+        polyvertnum,
+        polyvert,
+        idx2[j],
+        face2,
       )
 
   # TODO(kbayes): this approximates the contact direction, by scaling the face normal by the
@@ -2030,20 +2123,20 @@ def _multicontact(
   # face1 is an edge; clip face1 against face2
   if is_edge_contact_geom1:
     approx_dir = wp.norm_l2(dir) * n2[j]
-    return _polygon_clip(face2, nface2, face1, nface1, n2[j], approx_dir)
+    return _polygon_clip(plane_normal, plane_dist, face2, nface2, face1, nface1, n2[j], approx_dir, polygon, clipped)
 
   # face2 is an edge; clip face2 against face1
   if is_edge_contact_geom2:
     approx_dir = -wp.norm_l2(dir) * n1[j]
-    return _polygon_clip(face1, nface1, face2, nface2, n1[j], approx_dir)
+    return _polygon_clip(plane_normal, plane_dist, face1, nface1, face2, nface2, n1[j], approx_dir, polygon, clipped)
 
   # face-face collision
   approx_dir = wp.norm_l2(dir) * n2[j]
-  return _polygon_clip(face1, nface1, face2, nface2, n1[i], approx_dir)
+  return _polygon_clip(plane_normal, plane_dist, face1, nface1, face2, nface2, n1[i], approx_dir, polygon, clipped)
 
 
 @wp.func
-def _inflate(dist: float, x1: wp.vec3, x2: wp.vec3, margin1: float, margin2: float):
+def _inflate(dist: float, x1: wp.vec3, x2: wp.vec3, margin1: float, margin2: float) -> Tuple[float, wp.vec3, wp.vec3]:
   n = wp.normalize(x2 - x1)
   if margin1 > 0.0:
     x1 += margin1 * n
@@ -2079,7 +2172,18 @@ def ccd(
   face_index: wp.array(dtype=int),
   face_map: wp.array(dtype=int),
   horizon: wp.array(dtype=int),
-):
+  polygon: wp.array(dtype=wp.vec3),
+  clipped: wp.array(dtype=wp.vec3),
+  plane_normal: wp.array(dtype=wp.vec3),
+  plane_dist: wp.array(dtype=float),
+  idx1: wp.array(dtype=int),
+  idx2: wp.array(dtype=int),
+  n1: wp.array(dtype=wp.vec3),
+  n2: wp.array(dtype=wp.vec3),
+  endvert: wp.array(dtype=wp.vec3),
+  face1: wp.array(dtype=wp.vec3),
+  face2: wp.array(dtype=wp.vec3),
+) -> Tuple[float, int, mat3c, mat3c]:
   """General convex collision detection via GJK/EPA."""
   witness1 = mat3c()
   witness2 = mat3c()
@@ -2095,7 +2199,7 @@ def ccd(
   # special handling for sphere and capsule (shrink to point and line respectively)
   if margin1 + margin2 > 0.0:
     cutoff += margin1 + margin2
-    result = _gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, True)
+    result = gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, True)
 
     # shallow penetration, inflate contact
     if result.dist > tolerance:
@@ -2111,7 +2215,7 @@ def ccd(
     # deep penetration, reset initial conditions and rerun GJK + EPA
     cutoff -= margin1 + margin2
 
-  result = _gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, False)
+  result = gjk(tolerance, gjk_iterations, geom1, geom2, x_1, x_2, geomtype1, geomtype2, cutoff, False)
 
   # no penetration depth to recover
   if result.dist > tolerance or result.dim < 2:
@@ -2210,7 +2314,27 @@ def ccd(
     and (geomtype1 == int(GeomType.BOX.value) or (geomtype1 == int(GeomType.MESH.value) and geom1.mesh_polyadr > -1))
     and (geomtype2 == int(GeomType.BOX.value) or (geomtype2 == int(GeomType.MESH.value) and geom2.mesh_polyadr > -1))
   ):
-    num, w1, w2 = _multicontact(pt, pt.face[idx], x1, x2, geom1, geom2, geomtype1, geomtype2)
+    num, w1, w2 = _multicontact(
+      polygon,
+      clipped,
+      plane_normal,
+      plane_dist,
+      idx1,
+      idx2,
+      n1,
+      n2,
+      endvert,
+      face1,
+      face2,
+      pt,
+      pt.face[idx],
+      x1,
+      x2,
+      geom1,
+      geom2,
+      geomtype1,
+      geomtype2,
+    )
     if num > 0:
       return dist, num, w1, w2
   witness1[0] = x1
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_legacy.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_legacy.py
index 0b93ab15..e4b2d28d 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_legacy.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_legacy.py
@@ -15,7 +15,6 @@
 
 import warp as wp
 
-from mujoco.mjx.third_party.mujoco_warp._src.collision_hfield import hfield_prism_vertex
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import Geom
 from mujoco.mjx.third_party.mujoco_warp._src.math import gjk_normalize
 from mujoco.mjx.third_party.mujoco_warp._src.math import orthonormal
@@ -26,7 +25,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
 from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
 
 # TODO(team): improve compile time to enable backward pass
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 FLOAT_MIN = -1e30
 FLOAT_MAX = 1e30
@@ -121,7 +120,7 @@ def _gjk_support_geom(geom: Geom, geomtype: int, dir: wp.vec3):
   elif geomtype == int(GeomType.HFIELD.value):
     max_dist = float(FLOAT_MIN)
     for i in range(6):
-      vert = hfield_prism_vertex(geom.hfprism, i)
+      vert = geom.hfprism[i]
       dist = wp.dot(vert, local_dir)
       if dist > max_dist:
         max_dist = dist
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_test.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_test.py
index 64dd7945..5a3c82de 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_test.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_gjk_test.py
@@ -30,7 +30,7 @@ MAX_ITERATIONS = 20
 
 
 def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multiccd=False):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def _gjk_kernel(
     # Model:
     geom_type: wp.array(dtype=int),
@@ -66,6 +66,17 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
     face_index: wp.array(dtype=int),
     face_map: wp.array(dtype=int),
     horizon: wp.array(dtype=int),
+    polygon: wp.array(dtype=wp.vec3),
+    clipped: wp.array(dtype=wp.vec3),
+    pnormal: wp.array(dtype=wp.vec3),
+    pdist: wp.array(dtype=float),
+    idx1: wp.array(dtype=int),
+    idx2: wp.array(dtype=int),
+    n1: wp.array(dtype=wp.vec3),
+    n2: wp.array(dtype=wp.vec3),
+    endvert: wp.array(dtype=wp.vec3),
+    face1: wp.array(dtype=wp.vec3),
+    face2: wp.array(dtype=wp.vec3),
     # Out:
     dist_out: wp.array(dtype=float),
     ncon_out: wp.array(dtype=int),
@@ -152,6 +163,17 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
       face_index,
       face_map,
       horizon,
+      polygon,
+      clipped,
+      pnormal,
+      pdist,
+      idx1,
+      idx2,
+      n1,
+      n2,
+      endvert,
+      face1,
+      face2,
     )
 
     dist_out[0] = dist
@@ -170,6 +192,17 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
   face_index = wp.array(shape=(6 * iterations,), dtype=int)
   face_map = wp.array(shape=(6 * iterations,), dtype=int)
   horizon = wp.array(shape=(6 * iterations,), dtype=int)
+  polygon = wp.array(shape=(150,), dtype=wp.vec3)
+  clipped = wp.array(shape=(150,), dtype=wp.vec3)
+  pnormal = wp.array(shape=(150,), dtype=wp.vec3)
+  pdist = wp.array(shape=(150,), dtype=float)
+  idx1 = wp.array(shape=(150,), dtype=int)
+  idx2 = wp.array(shape=(150,), dtype=int)
+  n1 = wp.array(shape=(150,), dtype=wp.vec3)
+  n2 = wp.array(shape=(150,), dtype=wp.vec3)
+  endvert = wp.array(shape=(150,), dtype=wp.vec3)
+  face1 = wp.array(shape=(150,), dtype=wp.vec3)
+  face2 = wp.array(shape=(150,), dtype=wp.vec3)
   dist_out = wp.array(shape=(1,), dtype=float)
   ncon_out = wp.array(shape=(1,), dtype=int)
   pos_out = wp.array(shape=(2,), dtype=wp.vec3)
@@ -208,6 +241,17 @@ def _geom_dist(m: Model, d: Data, gid1: int, gid2: int, iterations: int, multicc
       face_index,
       face_map,
       horizon,
+      polygon,
+      clipped,
+      pnormal,
+      pdist,
+      idx1,
+      idx2,
+      n1,
+      n2,
+      endvert,
+      face1,
+      face2,
     ],
     outputs=[
       dist_out,
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_hfield.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_hfield.py
index 0458fd6b..b2eed4ab 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_hfield.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_hfield.py
@@ -18,277 +18,56 @@ from typing import Tuple
 import warp as wp
 
 from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXVAL
-from mujoco.mjx.third_party.mujoco_warp._src.types import Data
-from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
-from mujoco.mjx.third_party.mujoco_warp._src.types import Model
 
 
 @wp.func
-def _hfield_subgrid(
-  # In:
-  nrow: int,
-  ncol: int,
-  size: wp.vec4,
-  xmax: float,
-  xmin: float,
-  ymax: float,
-  ymin: float,
-) -> Tuple[int, int, int, int]:
-  """Returns height field subgrid that overlaps with geom AABB.
-
-  Args:
-    nrow: height field number of rows
-    ncol: height field number of columns
-    size: height field size
-    xmax: geom maximum x position
-    xmin: geom minimum x position
-    ymax: geom maximum y position
-    ymin: geom minimum y position
-
-  Returns:
-    grid coordinate bounds
-  """
-
-  # grid resolution
-  x_scale = 0.5 * float(ncol - 1) / size[0]
-  y_scale = 0.5 * float(nrow - 1) / size[1]
-
-  # subgrid
-  cmin = wp.max(0, int(wp.floor((xmin + size[0]) * x_scale)))
-  cmax = wp.min(ncol - 1, int(wp.ceil((xmax + size[0]) * x_scale)))
-  rmin = wp.max(0, int(wp.floor((ymin + size[1]) * y_scale)))
-  rmax = wp.min(nrow - 1, int(wp.ceil((ymax + size[1]) * y_scale)))
-
-  return cmin, rmin, cmax, rmax
-
-
-@wp.func
-def hfield_triangle_prism(
+def hfield_filter(
   # Model:
   geom_dataid: wp.array(dtype=int),
-  hfield_adr: wp.array(dtype=int),
-  hfield_nrow: wp.array(dtype=int),
-  hfield_ncol: wp.array(dtype=int),
-  hfield_size: wp.array(dtype=wp.vec4),
-  hfield_data: wp.array(dtype=float),
-  # In:
-  hfieldid: int,
-  hftri_index: int,
-) -> wp.mat33:
-  """Returns triangular prism vertex information in compressed representation.
-
-  Args:
-    geom_dataid: geom data ids
-    hfield_adr: address for height field
-    hfield_nrow: height field number of rows
-    hfield_ncol: height field number of columns
-    hfield_size: height field sizes
-    hfield_data: height field data
-    hfieldid: height field geom id
-    hftri_index: height field triangle index
-
-  Returns:
-    triangular prism vertex information (compressed)
-  """
-  # https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset-hfield
-
-  # get heightfield dimensions
-  dataid = geom_dataid[hfieldid]
-  if dataid < 0 or hftri_index < 0:
-    return wp.mat33(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
-
-  nrow = hfield_nrow[dataid]
-  ncol = hfield_ncol[dataid]
-  size = hfield_size[dataid]  # (x, y, z_top, z_bottom)
-
-  # calculate which triangle in the grid
-  row = (hftri_index // 2) // (ncol - 1)
-  col = (hftri_index // 2) % (ncol - 1)
-
-  # calculate vertices in 2D grid
-  x_scale = 2.0 * size[0] / float(ncol - 1)
-  y_scale = 2.0 * size[1] / float(nrow - 1)
-
-  # grid coordinates (i, j) for triangle corners
-  i0 = col
-  j0 = row
-  i1 = i0 + 1
-  j1 = j0 + 1
-
-  # convert grid coordinates to local space x, y coordinates
-  x0 = float(i0) * x_scale - size[0]
-  y0 = float(j0) * y_scale - size[1]
-  x1 = float(i1) * x_scale - size[0]
-  y1 = float(j1) * y_scale - size[1]
-
-  # get height values at corners from hfield_data
-  base_addr = hfield_adr[dataid]
-  z00 = hfield_data[base_addr + j0 * ncol + i0]
-  z01 = hfield_data[base_addr + j1 * ncol + i0]
-  z10 = hfield_data[base_addr + j0 * ncol + i1]
-  z11 = hfield_data[base_addr + j1 * ncol + i1]
-
-  # scale heights from range [0, 1] to [0, z_top]
-  z_top = size[2]
-  z00 = z00 * z_top
-  z01 = z01 * z_top
-  z10 = z10 * z_top
-  z11 = z11 * z_top
-
-  x2 = wp.where(hftri_index % 2, 1.0, 0.0)
-  y2 = wp.where(hftri_index % 2, z10, z01)
-  z22 = -size[3]
-
-  # compress 6 prism vertices into 3x3 matrix, see hfield_prism_vertex for details
-  return wp.mat33(x0, y0, z00,
-                  x1, y1, z11,
-                  x2, y2, z22)  # fmt: off
-
-
-@wp.func
-def hfield_prism_vertex(prism: wp.mat33, vert_index: int) -> wp.vec3:
-  """Extracts vertices from a compressed triangular prism representation.
-
-  The compression scheme stores a 6-vertex triangular prism using a 3x3 matrix:
-  - prism[0] = First vertex (x,y,z) - corner (i,j)
-  - prism[1] = Second vertex (x,y,z) - corner (i+1,j+1)
-  - prism[2,0] = Triangle type flag: 0 for even triangle (using corner (i,j+1)),
-                 non-zero for odd triangle (using corner (i+1,j))
-  - prism[2,1] = Z-coordinate of the third vertex
-  - prism[2,2] = Z-coordinate used for all bottom vertices (common z)
-
-  In this way, we can reconstruct all 6 vertices of the prism by reusing
-  coordinates from the stored vertices.
-
-  Args:
-      prism: 3x3 compressed representation of a triangular prism
-      vert_index: index of vertex to extract (0-5)
-
-  Returns:
-      3D coordinates of the requested vertex
-  """
-  if vert_index == 0 or vert_index == 1:
-    return prism[vert_index]  # first two vertices stored directly
-
-  if vert_index == 2:  # third vertex
-    if prism[2][0] == 0:  # even triangle (i, j+1)
-      return wp.vec3(prism[0][0], prism[1][1], prism[2][1])
-    else:  # odd triangle (i+1, j)
-      return wp.vec3(prism[1][0], prism[0][1], prism[2][1])
-
-  if vert_index == 3 or vert_index == 4:  # bottom vertices below 0 and 1
-    return wp.vec3(prism[vert_index - 3][0], prism[vert_index - 3][1], prism[2][2])
-
-  if vert_index == 5:  # bottom vertex below 2
-    if prism[2][0] == 0:  # even triangle
-      return wp.vec3(prism[0][0], prism[1][1], prism[2][2])
-    else:  # odd triangle
-      return wp.vec3(prism[1][0], prism[0][1], prism[2][2])
-
-
-@wp.kernel
-def _hfield_midphase(
-  # Model:
-  geom_type: wp.array(dtype=int),
-  geom_dataid: wp.array(dtype=int),
   geom_aabb: wp.array2d(dtype=wp.vec3),
   geom_rbound: wp.array2d(dtype=float),
   geom_margin: wp.array2d(dtype=float),
-  hfield_nrow: wp.array(dtype=int),
-  hfield_ncol: wp.array(dtype=int),
   hfield_size: wp.array(dtype=wp.vec4),
   # Data in:
-  nconmax_in: int,
   geom_xpos_in: wp.array2d(dtype=wp.vec3),
   geom_xmat_in: wp.array2d(dtype=wp.mat33),
-  collision_pair_in: wp.array(dtype=wp.vec2i),
-  collision_hftri_index_in: wp.array(dtype=int),
-  collision_pairid_in: wp.array(dtype=int),
-  collision_worldid_in: wp.array(dtype=int),
-  # Data out:
-  collision_pair_out: wp.array(dtype=wp.vec2i),
-  collision_hftri_index_out: wp.array(dtype=int),
-  collision_pairid_out: wp.array(dtype=int),
-  collision_worldid_out: wp.array(dtype=int),
-  ncollision_out: wp.array(dtype=int),
-):
-  """Midphase collision detection for heightfield triangles with other geoms.
+  # In:
+  worldid: int,
+  g1: int,
+  g2: int,
+) -> Tuple[bool, float, float, float, float, float, float]:
+  """Filter for height field collisions.
 
-  This kernel processes collision pairs where one geom is a heightfield (identified by
-  collision_hftri_index_in[pairid] == -1) and expands them into multiple collision pairs,
-  one for each potentially colliding triangle.
-
-  Args:
-    geom_type: geom type
-    geom_dataid: geom data id
-    geom_rbound: geom bounding sphere radius
-    geom_margin: geom margin
-    hfield_nrow: height field number of rows
-    hfield_ncol: height field number of columns
-    hfield_size: height field size
-    nconmax_in: maximum number of contacts
-    geom_xpos_in: geom position
-    geom_xmat_in: geom orientation
-    collision_pair_in: collision pair
-    collision_hftri_index_in: triangle indices, -1 for height field pair
-    collision_pairid_in: collision pair id from broadphase
-    collision_worldid_in: collision world id from broadphase
-    collision_pair_out: collision pair from midphase
-    collision_hftri_index_out: triangle indices from midphase
-    collision_pairid_out: collision pair id from midphase
-    collision_worldid_out: collision world id from midphase
-    ncollision_out: number of collisions from broadphase and midphase
+  See MuJoCo mjc_ConvexHField.
   """
-  pairid = wp.tid()
-
-  # only process pairs that are marked for height field collision (-1)
-  if collision_hftri_index_in[pairid] != -1:
-    return
-
-  # collision pair info
-  worldid = collision_worldid_in[pairid]
-  pair_id = collision_pairid_in[pairid]
-
-  pair = collision_pair_in[pairid]
-  g1 = pair[0]
-  g2 = pair[1]
-
-  hfieldid = g1
-  geomid = g2
-
-  # SHOULD NOT OCCUR: if the first geom is not a heightfield, swap
-  if geom_type[g1] != int(GeomType.HFIELD.value):
-    hfieldid = g2
-    geomid = g1
-
   # height field info
-  hfdataid = geom_dataid[hfieldid]
+  hfdataid = geom_dataid[g1]
   size1 = hfield_size[hfdataid]
-  pos1 = geom_xpos_in[worldid, hfieldid]
-  mat1 = geom_xmat_in[worldid, hfieldid]
+  pos1 = geom_xpos_in[worldid, g1]
+  mat1 = geom_xmat_in[worldid, g1]
   mat1T = wp.transpose(mat1)
 
   # geom info
-  pos2 = geom_xpos_in[worldid, geomid]
+  pos2 = geom_xpos_in[worldid, g2]
   pos = mat1T @ (pos2 - pos1)
-  r2 = geom_rbound[worldid, geomid]
+  r2 = geom_rbound[worldid, g2]
 
   # TODO(team): margin?
-  margin = wp.max(geom_margin[worldid, hfieldid], geom_margin[worldid, geomid])
+  margin = wp.max(geom_margin[worldid, g1], geom_margin[worldid, g2])
 
   # box-sphere test: horizontal plane
   for i in range(2):
     if (size1[i] < pos[i] - r2 - margin) or (-size1[i] > pos[i] + r2 + margin):
-      return
+      return True, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf
 
   # box-sphere test: vertical direction
   if size1[2] < pos[2] - r2 - margin:  # up
-    return
+    return True, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf
 
   if -size1[3] > pos[2] + r2 + margin:  # down
-    return
+    return True, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf
 
-  mat2 = geom_xmat_in[worldid, geomid]
+  mat2 = geom_xmat_in[worldid, g2]
   mat = mat1T @ mat2
 
   # aabb for geom in height field frame
@@ -299,8 +78,8 @@ def _hfield_midphase(
   ymin = MJ_MAXVAL
   zmin = MJ_MAXVAL
 
-  center2 = geom_aabb[geomid, 0]
-  size2 = geom_aabb[geomid, 1]
+  center2 = geom_aabb[g2, 0]
+  size2 = geom_aabb[g2, 1]
 
   pos += mat1T @ center2
 
@@ -341,61 +120,6 @@ def _hfield_midphase(
     or (zmin - margin > size1[2])
     or (zmax + margin < -size1[3])
   ):
-    return
-
-  # height field subgrid
-  nrow = hfield_nrow[hfieldid]
-  ncol = hfield_ncol[hfieldid]
-  size = hfield_size[hfieldid]
-  cmin, rmin, cmax, rmax = _hfield_subgrid(nrow, ncol, size, xmax, xmin, ymax, ymin)
-
-  # loop over subgrid triangles
-  for r in range(rmin, rmax):
-    for c in range(cmin, cmax):
-      # add both triangles from this cell
-      for i in range(2):
-        if r == rmin and c == cmin and i == 0:
-          # reuse the initial pair for the 1st triangle
-          new_pairid = pairid
-        else:
-          # create a new pair
-          new_pairid = wp.atomic_add(ncollision_out, 0, 1)
-
-        if new_pairid >= nconmax_in:
-          return
-
-        collision_pair_out[new_pairid] = pair
-        collision_hftri_index_out[new_pairid] = 2 * (r * (ncol - 1) + c) + i
-        collision_pairid_out[new_pairid] = pair_id
-        collision_worldid_out[new_pairid] = worldid
-
-
-def hfield_midphase(m: Model, d: Data):
-  """Midphase collision detection for height field triangles with other geoms.
-
-  Processes collision pairs from the broadphase where one geom is a height field and expands
-  them into multiple collision pairs, one for each potentially colliding triangle. The
-  function directly writes to the same collision buffers used by _add_geom_pair.
-  """
-  wp.launch(
-    kernel=_hfield_midphase,
-    dim=d.nconmax,
-    inputs=[
-      m.geom_type,
-      m.geom_dataid,
-      m.geom_aabb,
-      m.geom_rbound,
-      m.geom_margin,
-      m.hfield_nrow,
-      m.hfield_ncol,
-      m.hfield_size,
-      d.nconmax,
-      d.geom_xpos,
-      d.geom_xmat,
-      d.collision_pair,
-      d.collision_hftri_index,
-      d.collision_pairid,
-      d.collision_worldid,
-    ],
-    outputs=[d.collision_pair, d.collision_hftri_index, d.collision_pairid, d.collision_worldid, d.ncollision],
-  )
+    return True, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf, wp.inf
+  else:
+    return False, xmin, xmax, ymin, ymax, zmin, zmax
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py
index 9289ccf1..340ca24c 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive.py
@@ -13,13 +13,23 @@
 # limitations under the License.
 # ==============================================================================
 
+from typing import Tuple
+
 import warp as wp
 
-from mujoco.mjx.third_party.mujoco_warp._src.collision_hfield import hfield_triangle_prism
-from mujoco.mjx.third_party.mujoco_warp._src.math import closest_segment_point
-from mujoco.mjx.third_party.mujoco_warp._src.math import closest_segment_to_segment_points
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import box_box
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import capsule_box
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import capsule_capsule
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_box
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_capsule
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_cylinder
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_ellipsoid
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import plane_sphere
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_box
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_capsule
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_cylinder
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive_core import sphere_sphere
 from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
-from mujoco.mjx.third_party.mujoco_warp._src.math import normalize_with_norm
 from mujoco.mjx.third_party.mujoco_warp._src.math import safe_div
 from mujoco.mjx.third_party.mujoco_warp._src.math import upper_trid_index
 from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINMU
@@ -29,20 +39,18 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
 from mujoco.mjx.third_party.mujoco_warp._src.types import Model
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
+from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
 
 wp.set_module_options({"enable_backward": False})
 
-
-class vec8f(wp.types.vector(length=8, dtype=wp.float32)):
-  pass
+_HUGE_VAL = 1e6
 
 
 class mat43f(wp.types.matrix(shape=(4, 3), dtype=wp.float32)):
   pass
 
 
-class mat83f(wp.types.matrix(shape=(8, 3), dtype=wp.float32)):
-  pass
+mat63 = wp.types.matrix(shape=(6, 3), dtype=float)
 
 
 @wp.struct
@@ -51,7 +59,7 @@ class Geom:
   rot: wp.mat33
   normal: wp.vec3
   size: wp.vec3
-  hfprism: wp.mat33
+  hfprism: mat63
   vertadr: int
   vertnum: int
   vert: wp.array(dtype=wp.vec3)
@@ -70,23 +78,19 @@ class Geom:
 
 
 @wp.func
-def _geom(
+def geom(
+  # kernel_analyzer: off
   # Model:
-  geom_type: wp.array(dtype=int),
-  geom_dataid: wp.array(dtype=int),
-  geom_size: wp.array2d(dtype=wp.vec3),
-  hfield_adr: wp.array(dtype=int),
-  hfield_nrow: wp.array(dtype=int),
-  hfield_ncol: wp.array(dtype=int),
-  hfield_size: wp.array(dtype=wp.vec4),
-  hfield_data: wp.array(dtype=float),
-  mesh_vertadr: wp.array(dtype=int),
-  mesh_vertnum: wp.array(dtype=int),
+  geom_type: int,
+  geom_dataid: int,
+  geom_size: wp.vec3,
+  mesh_vertadr: int,
+  mesh_vertnum: int,
   mesh_vert: wp.array(dtype=wp.vec3),
-  mesh_graphadr: wp.array(dtype=int),
+  mesh_graphadr: int,
   mesh_graph: wp.array(dtype=int),
-  mesh_polynum: wp.array(dtype=int),
-  mesh_polyadr: wp.array(dtype=int),
+  mesh_polynum: int,
+  mesh_polyadr: int,
   mesh_polynormal: wp.array(dtype=wp.vec3),
   mesh_polyvertadr: wp.array(dtype=int),
   mesh_polyvertnum: wp.array(dtype=int),
@@ -95,28 +99,23 @@ def _geom(
   mesh_polymapnum: wp.array(dtype=int),
   mesh_polymap: wp.array(dtype=int),
   # Data in:
-  geom_xpos_in: wp.array2d(dtype=wp.vec3),
-  geom_xmat_in: wp.array2d(dtype=wp.mat33),
-  # In:
-  worldid: int,
-  gid: int,
-  hftri_index: int,
+  geom_xpos_in: wp.vec3,
+  geom_xmat_in: wp.mat33,
+  # kernel_analyzer: on
 ) -> Geom:
   geom = Geom()
-  geom.pos = geom_xpos_in[worldid, gid]
-  rot = geom_xmat_in[worldid, gid]
-  geom.rot = rot
-  geom.size = geom_size[worldid, gid]
-  geom.normal = wp.vec3(rot[0, 2], rot[1, 2], rot[2, 2])  # plane
-  dataid = geom_dataid[gid]
+  geom.pos = geom_xpos_in
+  geom.rot = geom_xmat_in
+  geom.size = geom_size
+  geom.normal = wp.vec3(geom_xmat_in[0, 2], geom_xmat_in[1, 2], geom_xmat_in[2, 2])  # plane
 
   # If geom is MESH, get mesh verts
-  if dataid >= 0 and geom_type[gid] == int(GeomType.MESH.value):
-    geom.vertadr = mesh_vertadr[dataid]
-    geom.vertnum = mesh_vertnum[dataid]
-    geom.graphadr = mesh_graphadr[dataid]
-    geom.mesh_polynum = mesh_polynum[dataid]
-    geom.mesh_polyadr = mesh_polyadr[dataid]
+  if geom_dataid >= 0 and geom_type == int(GeomType.MESH.value):
+    geom.vertadr = mesh_vertadr
+    geom.vertnum = mesh_vertnum
+    geom.graphadr = mesh_graphadr
+    geom.mesh_polynum = mesh_polynum
+    geom.mesh_polyadr = mesh_polyadr
   else:
     geom.vertadr = -1
     geom.vertnum = -1
@@ -124,7 +123,7 @@ def _geom(
     geom.mesh_polynum = -1
     geom.mesh_polyadr = -1
 
-  if geom_type[gid] == int(GeomType.MESH.value):
+  if geom_type == int(GeomType.MESH.value):
     geom.vert = mesh_vert
     geom.graph = mesh_graph
     geom.mesh_polynormal = mesh_polynormal
@@ -135,773 +134,33 @@ def _geom(
     geom.mesh_polymapnum = mesh_polymapnum
     geom.mesh_polymap = mesh_polymap
 
-  # If geom is HFIELD triangle, compute triangle prism verts
-  if geom_type[gid] == int(GeomType.HFIELD.value):
-    geom.hfprism = hfield_triangle_prism(
-      geom_dataid, hfield_adr, hfield_nrow, hfield_ncol, hfield_size, hfield_data, gid, hftri_index
-    )
-
   geom.index = -1
   return geom
 
 
 @wp.func
-def write_contact(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  dist_in: float,
-  pos_in: wp.vec3,
-  frame_in: wp.mat33,
-  margin_in: float,
-  gap_in: float,
-  condim_in: int,
-  friction_in: vec5,
-  solref_in: wp.vec2f,
-  solreffriction_in: wp.vec2f,
-  solimp_in: vec5,
-  geoms_in: wp.vec2i,
-  worldid_in: int,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  active = (dist_in - margin_in) < 0
-  if active:
-    cid = wp.atomic_add(ncon_out, 0, 1)
-    if cid < nconmax_in:
-      contact_dist_out[cid] = dist_in
-      contact_pos_out[cid] = pos_in
-      contact_frame_out[cid] = frame_in
-      contact_geom_out[cid] = geoms_in
-      contact_worldid_out[cid] = worldid_in
-      includemargin = margin_in - gap_in
-      contact_includemargin_out[cid] = includemargin
-      contact_dim_out[cid] = condim_in
-      contact_friction_out[cid] = friction_in
-      contact_solref_out[cid] = solref_in
-      contact_solreffriction_out[cid] = solreffriction_in
-      contact_solimp_out[cid] = solimp_in
+def plane_convex(plane_normal: wp.vec3, plane_pos: wp.vec3, convex: Geom) -> Tuple[wp.vec4, mat43f, wp.vec3]:
+  """Core contact geometry calculation for plane-convex collision.
 
+  Args:
+    plane_normal: Normal vector of the plane
+    plane_pos: Position point on the plane
+    convex: Convex geometry object containing position, rotation, and mesh data
 
-@wp.func
-def _plane_sphere(plane_normal: wp.vec3, plane_pos: wp.vec3, sphere_pos: wp.vec3, sphere_radius: float):
-  dist = wp.dot(sphere_pos - plane_pos, plane_normal) - sphere_radius
-  pos = sphere_pos - plane_normal * (sphere_radius + 0.5 * dist)
-  return dist, pos
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances (wp.inf for unpopulated contacts)
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normal: Matrix of contact normal vectors (one per row)
+  """
 
-
-@wp.func
-def plane_sphere(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  plane: Geom,
-  sphere: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  dist, pos = _plane_sphere(plane.normal, plane.pos, sphere.pos, sphere.size[0])
-
-  write_contact(
-    nconmax_in,
-    dist,
-    pos,
-    make_frame(plane.normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def _sphere_sphere(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  pos1: wp.vec3,
-  radius1: float,
-  pos2: wp.vec3,
-  radius2: float,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  dir = pos2 - pos1
-  dist = wp.length(dir)
-  if dist == 0.0:
-    n = wp.vec3(1.0, 0.0, 0.0)
-  else:
-    n = dir / dist
-  dist = dist - (radius1 + radius2)
-  pos = pos1 + n * (radius1 + 0.5 * dist)
-
-  write_contact(
-    nconmax_in,
-    dist,
-    pos,
-    make_frame(n),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def _sphere_sphere_ext(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  pos1: wp.vec3,
-  radius1: float,
-  pos2: wp.vec3,
-  radius2: float,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  mat1: wp.mat33,
-  mat2: wp.mat33,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  dir = pos2 - pos1
-  dist = wp.length(dir)
-  if dist == 0.0:
-    # Use cross product of z axes like MuJoCo
-    axis1 = wp.vec3(mat1[0, 2], mat1[1, 2], mat1[2, 2])
-    axis2 = wp.vec3(mat2[0, 2], mat2[1, 2], mat2[2, 2])
-    n = wp.cross(axis1, axis2)
-    n = wp.normalize(n)
-  else:
-    n = dir / dist
-  dist = dist - (radius1 + radius2)
-  pos = pos1 + n * (radius1 + 0.5 * dist)
-
-  write_contact(
-    nconmax_in,
-    dist,
-    pos,
-    make_frame(n),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def sphere_sphere(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  sphere1: Geom,
-  sphere2: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  _sphere_sphere(
-    nconmax_in,
-    sphere1.pos,
-    sphere1.size[0],
-    sphere2.pos,
-    sphere2.size[0],
-    worldid,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def sphere_capsule(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  sphere: Geom,
-  cap: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  """Calculates one contact between a sphere and a capsule."""
-  axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
-  length = cap.size[1]
-  segment = axis * length
-
-  # Find closest point on capsule centerline to sphere center
-  pt = closest_segment_point(cap.pos - segment, cap.pos + segment, sphere.pos)
-
-  # Treat as sphere-sphere collision between sphere and closest point
-  _sphere_sphere(
-    nconmax_in,
-    sphere.pos,
-    sphere.size[0],
-    pt,
-    cap.size[0],
-    worldid,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def capsule_capsule(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  cap1: Geom,
-  cap2: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  axis1 = wp.vec3(cap1.rot[0, 2], cap1.rot[1, 2], cap1.rot[2, 2])
-  axis2 = wp.vec3(cap2.rot[0, 2], cap2.rot[1, 2], cap2.rot[2, 2])
-  length1 = cap1.size[1]
-  length2 = cap2.size[1]
-  seg1 = axis1 * length1
-  seg2 = axis2 * length2
-
-  pt1, pt2 = closest_segment_to_segment_points(
-    cap1.pos - seg1,
-    cap1.pos + seg1,
-    cap2.pos - seg2,
-    cap2.pos + seg2,
-  )
-
-  _sphere_sphere(
-    nconmax_in,
-    pt1,
-    cap1.size[0],
-    pt2,
-    cap2.size[0],
-    worldid,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def plane_capsule(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  plane: Geom,
-  cap: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  """Calculates two contacts between a capsule and a plane."""
-  n = plane.normal
-  axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
-  # align contact frames with capsule axis
-  b, b_norm = normalize_with_norm(axis - n * wp.dot(n, axis))
-
-  if b_norm < 0.5:
-    if -0.5 < n[1] and n[1] < 0.5:
-      b = wp.vec3(0.0, 1.0, 0.0)
-    else:
-      b = wp.vec3(0.0, 0.0, 1.0)
-
-  c = wp.cross(n, b)
-  frame = wp.mat33(n[0], n[1], n[2], b[0], b[1], b[2], c[0], c[1], c[2])
-  segment = axis * cap.size[1]
-
-  dist1, pos1 = _plane_sphere(n, plane.pos, cap.pos + segment, cap.size[0])
-  write_contact(
-    nconmax_in,
-    dist1,
-    pos1,
-    frame,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-  dist2, pos2 = _plane_sphere(n, plane.pos, cap.pos - segment, cap.size[0])
-  write_contact(
-    nconmax_in,
-    dist2,
-    pos2,
-    frame,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def plane_ellipsoid(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  plane: Geom,
-  ellipsoid: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  sphere_support = -wp.normalize(wp.cw_mul(wp.transpose(ellipsoid.rot) @ plane.normal, ellipsoid.size))
-  pos = ellipsoid.pos + ellipsoid.rot @ wp.cw_mul(sphere_support, ellipsoid.size)
-  dist = wp.dot(plane.normal, pos - plane.pos)
-  pos = pos - plane.normal * dist * 0.5
-
-  write_contact(
-    nconmax_in,
-    dist,
-    pos,
-    make_frame(plane.normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def plane_box(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  plane: Geom,
-  box: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  count = int(0)
-  corner = wp.vec3()
-  dist = wp.dot(box.pos - plane.pos, plane.normal)
-
-  # test all corners, pick bottom 4
-  for i in range(8):
-    # get corner in local coordinates
-    corner.x = wp.where(i & 1, box.size.x, -box.size.x)
-    corner.y = wp.where(i & 2, box.size.y, -box.size.y)
-    corner.z = wp.where(i & 4, box.size.z, -box.size.z)
-
-    # get corner in global coordinates relative to box center
-    corner = box.rot * corner
-
-    # compute distance to plane, skip if too far or pointing up
-    ldist = wp.dot(plane.normal, corner)
-    if dist + ldist > margin or ldist > 0:
-      continue
-
-    cdist = dist + ldist
-    frame = make_frame(plane.normal)
-    pos = corner + box.pos + (plane.normal * cdist / -2.0)
-    write_contact(
-      nconmax_in,
-      cdist,
-      pos,
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
-    count += 1
-    if count >= 4:
-      break
-
-
-_HUGE_VAL = 1e6
-
-
-@wp.func
-def plane_convex(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  plane: Geom,
-  convex: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  """Calculates contacts between a plane and a convex object."""
+  contact_dist = wp.vec4(wp.inf)
+  contact_pos = mat43f()
+  contact_count = int(0)
 
   # get points in the convex frame
-  plane_pos = wp.transpose(convex.rot) @ (plane.pos - convex.pos)
-  n = wp.transpose(convex.rot) @ plane.normal
+  plane_pos_local = wp.transpose(convex.rot) @ (plane_pos - convex.pos)
+  n = wp.transpose(convex.rot) @ plane_normal
 
   # Store indices in vec4
   indices = wp.vec4i(-1, -1, -1, -1)
@@ -911,14 +170,14 @@ def plane_convex(
     # Find support points
     max_support = wp.float32(-_HUGE_VAL)
     for i in range(convex.vertnum):
-      support = wp.dot(plane_pos - convex.vert[convex.vertadr + i], n)
+      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
       max_support = wp.max(support, max_support)
 
     threshold = wp.max(0.0, max_support - 1e-3)
     # Find point a (first support point)
     a_dist = wp.float32(-_HUGE_VAL)
     for i in range(convex.vertnum):
-      support = wp.dot(plane_pos - convex.vert[convex.vertadr + i], n)
+      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
       dist = wp.where(support > threshold, support, -_HUGE_VAL)
       if dist > a_dist:
         indices[0] = i
@@ -928,7 +187,7 @@ def plane_convex(
     # Find point b (furthest from a)
     b_dist = wp.float32(-_HUGE_VAL)
     for i in range(convex.vertnum):
-      support = wp.dot(plane_pos - convex.vert[convex.vertadr + i], n)
+      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
       dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
       dist = wp.length_sq(a - convex.vert[convex.vertadr + i]) + dist_mask
       if dist > b_dist:
@@ -940,7 +199,7 @@ def plane_convex(
     ab = wp.cross(n, a - b)
     c_dist = wp.float32(-_HUGE_VAL)
     for i in range(convex.vertnum):
-      support = wp.dot(plane_pos - convex.vert[convex.vertadr + i], n)
+      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
       dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
       ap = a - convex.vert[convex.vertadr + i]
       dist = wp.abs(wp.dot(ap, ab)) + dist_mask
@@ -954,7 +213,7 @@ def plane_convex(
     bc = wp.cross(n, b - c)
     d_dist = wp.float32(-_HUGE_VAL)
     for i in range(convex.vertnum):
-      support = wp.dot(plane_pos - convex.vert[convex.vertadr + i], n)
+      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + i], n)
       dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
       ap = a - convex.vert[convex.vertadr + i]
       bp = b - convex.vert[convex.vertadr + i]
@@ -983,7 +242,7 @@ def plane_convex(
       while convex.graph[edge_localid + i] >= 0:
         subidx = convex.graph[edge_localid + i]
         idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos - convex.vert[convex.vertadr + idx], n)
+        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
         if support > max_support:
           max_support = support
           imax = int(subidx)
@@ -1000,7 +259,7 @@ def plane_convex(
       while convex.graph[edge_localid + i] >= 0:
         subidx = convex.graph[edge_localid + i]
         idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos - convex.vert[convex.vertadr + idx], n)
+        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
         dist = wp.where(support > threshold, support, -_HUGE_VAL)
         if dist > a_dist:
           a_dist = dist
@@ -1008,9 +267,9 @@ def plane_convex(
         i += int(1)
       if imax == prev:
         break
-    imax = convex.graph[vert_globalid + imax]
-    a = convex.vert[convex.vertadr + imax]
-    indices[0] = imax
+    imax_global = convex.graph[vert_globalid + imax]
+    a = convex.vert[convex.vertadr + imax_global]
+    indices[0] = imax_global
 
     # Find point b (furthest from a)
     b_dist = wp.float32(-_HUGE_VAL)
@@ -1020,7 +279,7 @@ def plane_convex(
       while convex.graph[edge_localid + i] >= 0:
         subidx = convex.graph[edge_localid + i]
         idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos - convex.vert[convex.vertadr + idx], n)
+        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
         dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
         dist = wp.length_sq(a - convex.vert[convex.vertadr + idx]) + dist_mask
         if dist > b_dist:
@@ -1029,9 +288,9 @@ def plane_convex(
         i += int(1)
       if imax == prev:
         break
-    imax = convex.graph[vert_globalid + imax]
-    b = convex.vert[convex.vertadr + imax]
-    indices[1] = imax
+    imax_global = convex.graph[vert_globalid + imax]
+    b = convex.vert[convex.vertadr + imax_global]
+    indices[1] = imax_global
 
     # Find point c (furthest along axis orthogonal to a-b)
     ab = wp.cross(n, a - b)
@@ -1042,9 +301,9 @@ def plane_convex(
       while convex.graph[edge_localid + i] >= 0:
         subidx = convex.graph[edge_localid + i]
         idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos - convex.vert[convex.vertadr + idx], n)
+        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
         dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
-        ap = a - convex.vert[convex.vertadr + i]
+        ap = a - convex.vert[convex.vertadr + idx]
         dist = wp.abs(wp.dot(ap, ab)) + dist_mask
         if dist > c_dist:
           c_dist = dist
@@ -1052,9 +311,9 @@ def plane_convex(
         i += int(1)
       if imax == prev:
         break
-    imax = convex.graph[vert_globalid + imax]
-    c = convex.vert[convex.vertadr + imax]
-    indices[2] = imax
+    imax_global = convex.graph[vert_globalid + imax]
+    c = convex.vert[convex.vertadr + imax_global]
+    indices[2] = imax_global
 
     # Find point d (furthest from other triangle edges)
     ac = wp.cross(n, a - c)
@@ -1066,7 +325,7 @@ def plane_convex(
       while convex.graph[edge_localid + i] >= 0:
         subidx = convex.graph[edge_localid + i]
         idx = convex.graph[vert_globalid + subidx]
-        support = wp.dot(plane_pos - convex.vert[convex.vertadr + idx], n)
+        support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
         dist_mask = wp.where(support > threshold, 0.0, -_HUGE_VAL)
         ap = a - convex.vert[convex.vertadr + idx]
         bp = b - convex.vert[convex.vertadr + idx]
@@ -1078,11 +337,10 @@ def plane_convex(
         i += int(1)
       if imax == prev:
         break
-    imax = convex.graph[vert_globalid + imax]
-    indices[3] = imax
+    imax_global = convex.graph[vert_globalid + imax]
+    indices[3] = imax_global
 
-  # Write contacts
-  frame = make_frame(plane.normal)
+  # Collect contacts from unique indices
   for i in range(3, -1, -1):
     idx = indices[i]
     count = int(0)
@@ -1094,54 +352,34 @@ def plane_convex(
     if count == 1:
       pos = convex.vert[convex.vertadr + idx]
       pos = convex.pos + convex.rot @ pos
-      support = wp.dot(plane_pos - convex.vert[convex.vertadr + idx], n)
+      support = wp.dot(plane_pos_local - convex.vert[convex.vertadr + idx], n)
       dist = -support
-      pos = pos - 0.5 * dist * plane.normal
-      write_contact(
-        nconmax_in,
-        dist,
-        pos,
-        frame,
-        margin,
-        gap,
-        condim,
-        friction,
-        solref,
-        solreffriction,
-        solimp,
-        geoms,
-        worldid,
-        ncon_out,
-        contact_dist_out,
-        contact_pos_out,
-        contact_frame_out,
-        contact_includemargin_out,
-        contact_friction_out,
-        contact_solref_out,
-        contact_solreffriction_out,
-        contact_solimp_out,
-        contact_dim_out,
-        contact_geom_out,
-        contact_worldid_out,
-      )
+      pos = pos - 0.5 * dist * plane_normal
+
+      contact_dist[contact_count] = dist
+      contact_pos[contact_count] = pos
+      contact_count = contact_count + 1
+
+  return contact_dist, contact_pos, plane_normal
 
 
 @wp.func
-def sphere_cylinder(
+def write_contact(
   # Data in:
   nconmax_in: int,
   # In:
-  sphere: Geom,
-  cylinder: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
+  dist_in: float,
+  pos_in: wp.vec3,
+  frame_in: wp.mat33,
+  margin_in: float,
+  gap_in: float,
+  condim_in: int,
+  friction_in: vec5,
+  solref_in: wp.vec2,
+  solreffriction_in: wp.vec2,
+  solimp_in: vec5,
+  geoms_in: wp.vec2i,
+  worldid_in: int,
   # Data out:
   ncon_out: wp.array(dtype=int),
   contact_dist_out: wp.array(dtype=float),
@@ -1156,349 +394,21 @@ def sphere_cylinder(
   contact_geom_out: wp.array(dtype=wp.vec2i),
   contact_worldid_out: wp.array(dtype=int),
 ):
-  axis = wp.vec3(
-    cylinder.rot[0, 2],
-    cylinder.rot[1, 2],
-    cylinder.rot[2, 2],
-  )
-
-  vec = sphere.pos - cylinder.pos
-  x = wp.dot(vec, axis)
-
-  a_proj = axis * x
-  p_proj = vec - a_proj
-  p_proj_sqr = wp.dot(p_proj, p_proj)
-
-  collide_side = wp.abs(x) < cylinder.size[1]
-  collide_cap = p_proj_sqr < (cylinder.size[0] * cylinder.size[0])
-
-  if collide_side and collide_cap:
-    dist_cap = cylinder.size[1] - wp.abs(x)
-    dist_radius = cylinder.size[0] - wp.sqrt(p_proj_sqr)
-
-    if dist_cap < dist_radius:
-      collide_side = False
-    else:
-      collide_cap = False
-
-  # Side collision
-  if collide_side:
-    pos_target = cylinder.pos + a_proj
-
-    _sphere_sphere_ext(
-      nconmax_in,
-      sphere.pos,
-      sphere.size[0],
-      pos_target,
-      cylinder.size[0],
-      worldid,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      sphere.rot,
-      cylinder.rot,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
-    return
-
-  # Cap collision
-  if collide_cap:
-    if x > 0.0:
-      # top cap
-      pos_cap = cylinder.pos + axis * cylinder.size[1]
-      plane_normal = axis
-    else:
-      # bottom cap
-      pos_cap = cylinder.pos - axis * cylinder.size[1]
-      plane_normal = -axis
-
-    dist, pos_contact = _plane_sphere(plane_normal, pos_cap, sphere.pos, sphere.size[0])
-    plane_normal = -plane_normal  # Flip normal after position calculation
-
-    write_contact(
-      nconmax_in,
-      dist,
-      pos_contact,
-      make_frame(plane_normal),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
-
-    return
-
-  # Corner collision
-  inv_len = safe_div(1.0, wp.sqrt(p_proj_sqr))
-  p_proj = p_proj * (cylinder.size[0] * inv_len)
-
-  cap_offset = axis * (wp.sign(x) * cylinder.size[1])
-  pos_corner = cylinder.pos + cap_offset + p_proj
-
-  _sphere_sphere_ext(
-    nconmax_in,
-    sphere.pos,
-    sphere.size[0],
-    pos_corner,
-    0.0,
-    worldid,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    sphere.rot,
-    cylinder.rot,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
-
-
-@wp.func
-def plane_cylinder(
-  # Data in:
-  nconmax_in: int,
-  # In:
-  plane: Geom,
-  cylinder: Geom,
-  worldid: int,
-  margin: float,
-  gap: float,
-  condim: int,
-  friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
-  solimp: vec5,
-  geoms: wp.vec2i,
-  # Data out:
-  ncon_out: wp.array(dtype=int),
-  contact_dist_out: wp.array(dtype=float),
-  contact_pos_out: wp.array(dtype=wp.vec3),
-  contact_frame_out: wp.array(dtype=wp.mat33),
-  contact_includemargin_out: wp.array(dtype=float),
-  contact_friction_out: wp.array(dtype=vec5),
-  contact_solref_out: wp.array(dtype=wp.vec2),
-  contact_solreffriction_out: wp.array(dtype=wp.vec2),
-  contact_solimp_out: wp.array(dtype=vec5),
-  contact_dim_out: wp.array(dtype=int),
-  contact_geom_out: wp.array(dtype=wp.vec2i),
-  contact_worldid_out: wp.array(dtype=int),
-):
-  """Calculates contacts between a cylinder and a plane."""
-  # Extract plane normal and cylinder axis
-  n = plane.normal
-  axis = wp.vec3(cylinder.rot[0, 2], cylinder.rot[1, 2], cylinder.rot[2, 2])
-
-  # Project, make sure axis points toward plane
-  prjaxis = wp.dot(n, axis)
-  if prjaxis > 0:
-    axis = -axis
-    prjaxis = -prjaxis
-
-  # Compute normal distance from plane to cylinder center
-  dist0 = wp.dot(cylinder.pos - plane.pos, n)
-
-  # Remove component of -normal along cylinder axis
-  vec = axis * prjaxis - n
-  len_sqr = wp.dot(vec, vec)
-
-  # If vector is nondegenerate, normalize and scale by radius
-  # Otherwise use cylinder's x-axis scaled by radius
-  vec = wp.where(
-    len_sqr >= 1e-12,
-    vec * safe_div(cylinder.size[0], wp.sqrt(len_sqr)),
-    wp.vec3(cylinder.rot[0, 0], cylinder.rot[1, 0], cylinder.rot[2, 0]) * cylinder.size[0],
-  )
-
-  # Project scaled vector on normal
-  prjvec = wp.dot(vec, n)
-
-  # Scale cylinder axis by half-length
-  axis = axis * cylinder.size[1]
-  prjaxis = prjaxis * cylinder.size[1]
-
-  frame = make_frame(n)
-
-  # First contact point (end cap closer to plane)
-  dist1 = dist0 + prjaxis + prjvec
-  if dist1 <= margin:
-    pos1 = cylinder.pos + vec + axis - n * (dist1 * 0.5)
-    write_contact(
-      nconmax_in,
-      dist1,
-      pos1,
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
-  else:
-    # If nearest point is above margin, no contacts
-    return
-
-  # Second contact point (end cap farther from plane)
-  dist2 = dist0 - prjaxis + prjvec
-  if dist2 <= margin:
-    pos2 = cylinder.pos + vec - axis - n * (dist2 * 0.5)
-    write_contact(
-      nconmax_in,
-      dist2,
-      pos2,
-      make_frame(plane.normal),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
-
-  # Try triangle contact points on side closer to plane
-  prjvec1 = -prjvec * 0.5
-  dist3 = dist0 + prjaxis + prjvec1
-  if dist3 <= margin:
-    # Compute sideways vector scaled by radius*sqrt(3)/2
-    vec1 = wp.cross(vec, axis)
-    vec1 = wp.normalize(vec1) * (cylinder.size[0] * wp.sqrt(3.0) * 0.5)
-
-    # Add contact point A - adjust to closest side
-    pos3 = cylinder.pos + vec1 + axis - vec * 0.5 - n * (dist3 * 0.5)
-    write_contact(
-      nconmax_in,
-      dist3,
-      pos3,
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
-
-    # Add contact point B - adjust to closest side
-    pos4 = cylinder.pos - vec1 + axis - vec * 0.5 - n * (dist3 * 0.5)
-    write_contact(
-      nconmax_in,
-      dist3,
-      pos4,
-      frame,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
+  if dist_in - margin_in < 0.0:
+    cid = wp.atomic_add(ncon_out, 0, 1)
+    if cid < nconmax_in:
+      contact_dist_out[cid] = dist_in
+      contact_pos_out[cid] = pos_in
+      contact_frame_out[cid] = frame_in
+      contact_geom_out[cid] = geoms_in
+      contact_worldid_out[cid] = worldid_in
+      includemargin = margin_in - gap_in
+      contact_includemargin_out[cid] = includemargin
+      contact_dim_out[cid] = condim_in
+      contact_friction_out[cid] = friction_in
+      contact_solref_out[cid] = solref_in
+      contact_solreffriction_out[cid] = solreffriction_in
+      contact_solimp_out[cid] = solimp_in
 
 
 @wp.func
@@ -1592,22 +502,19 @@ def contact_params(
 
 
 @wp.func
-def _sphere_box(
+def plane_sphere_wrapper(
   # Data in:
   nconmax_in: int,
   # In:
-  sphere_pos: wp.vec3,
-  sphere_size: float,
-  box_pos: wp.vec3,
-  box_rot: wp.mat33,
-  box_size: wp.vec3,
+  plane: Geom,
+  sphere: Geom,
   worldid: int,
   margin: float,
   gap: float,
   condim: int,
   friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
   solimp: vec5,
   geoms: wp.vec2i,
   # Data out:
@@ -1624,68 +531,668 @@ def _sphere_box(
   contact_geom_out: wp.array(dtype=wp.vec2i),
   contact_worldid_out: wp.array(dtype=int),
 ):
-  center = wp.transpose(box_rot) @ (sphere_pos - box_pos)
+  """Calculates contact between a sphere and a plane."""
+  dist, pos = plane_sphere(plane.normal, plane.pos, sphere.pos, sphere.size[0])
 
-  clamped = wp.max(-box_size, wp.min(box_size, center))
-  clamped_dir, dist = normalize_with_norm(clamped - center)
-
-  if dist - sphere_size > margin:
-    return
-
-  # sphere center inside box
-  if dist <= MJ_MINVAL:
-    closest = 2.0 * (box_size[0] + box_size[1] + box_size[2])
-    k = wp.int32(0)
-    for i in range(6):
-      face_dist = wp.abs(wp.where(i % 2, 1.0, -1.0) * box_size[i // 2] - center[i // 2])
-      if closest > face_dist:
-        closest = face_dist
-        k = i
-
-    nearest = wp.vec3(0.0)
-    nearest[k // 2] = wp.where(k % 2, -1.0, 1.0)
-    pos = center + nearest * (sphere_size - closest) / 2.0
-    contact_normal = box_rot @ nearest
-    contact_dist = -closest - sphere_size
-
-  else:
-    deepest = center + clamped_dir * sphere_size
-    pos = 0.5 * (clamped + deepest)
-    contact_normal = box_rot @ clamped_dir
-    contact_dist = dist - sphere_size
-
-  contact_pos = box_pos + box_rot @ pos
-  write_contact(
-    nconmax_in,
-    contact_dist,
-    contact_pos,
-    make_frame(contact_normal),
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    worldid,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
+  if dist - margin < 0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(plane.normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
 
 
 @wp.func
-def sphere_box(
+def sphere_sphere_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  sphere1: Geom,
+  sphere2: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contact between two spheres."""
+  dist, pos, normal = sphere_sphere(sphere1.pos, sphere1.size[0], sphere2.pos, sphere2.size[0])
+
+  if dist - margin < 0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
+
+
+@wp.func
+def sphere_capsule_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  sphere: Geom,
+  cap: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates one contact between a sphere and a capsule."""
+  # capsule axis
+  axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
+
+  dist, pos, normal = sphere_capsule(sphere.pos, sphere.size[0], cap.pos, axis, cap.size[0], cap.size[1])
+
+  if dist - margin < 0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
+
+
+@wp.func
+def capsule_capsule_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  cap1: Geom,
+  cap2: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between two capsules."""
+  # capsule axes
+  cap1_axis = wp.vec3(cap1.rot[0, 2], cap1.rot[1, 2], cap1.rot[2, 2])
+  cap2_axis = wp.vec3(cap2.rot[0, 2], cap2.rot[1, 2], cap2.rot[2, 2])
+
+  dist, pos, normal = capsule_capsule(
+    cap1.pos,
+    cap1_axis,
+    cap1.size[0],  # radius1
+    cap1.size[1],  # half_length1
+    cap2.pos,
+    cap2_axis,
+    cap2.size[0],  # radius2
+    cap2.size[1],  # half_length2
+  )
+
+  if dist - margin < 0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
+
+
+@wp.func
+def plane_capsule_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  plane: Geom,
+  cap: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between a capsule and a plane."""
+  # capsule axis
+  capsule_axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
+
+  dist, pos, frame = plane_capsule(
+    plane.normal,
+    plane.pos,
+    cap.pos,
+    capsule_axis,
+    cap.size[0],  # radius
+    cap.size[1],  # half_length
+  )
+
+  for i in range(2):
+    disti = dist[i]
+    if disti - margin < 0.0:
+      write_contact(
+        nconmax_in,
+        disti,
+        pos[i],
+        frame,
+        margin,
+        gap,
+        condim,
+        friction,
+        solref,
+        solreffriction,
+        solimp,
+        geoms,
+        worldid,
+        ncon_out,
+        contact_dist_out,
+        contact_pos_out,
+        contact_frame_out,
+        contact_includemargin_out,
+        contact_friction_out,
+        contact_solref_out,
+        contact_solreffriction_out,
+        contact_solimp_out,
+        contact_dim_out,
+        contact_geom_out,
+        contact_worldid_out,
+      )
+
+
+@wp.func
+def plane_ellipsoid_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  plane: Geom,
+  ellipsoid: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between an ellipsoid and a plane."""
+  dist, pos, normal = plane_ellipsoid(plane.normal, plane.pos, ellipsoid.pos, ellipsoid.rot, ellipsoid.size)
+
+  if dist - margin < 0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
+
+
+@wp.func
+def plane_box_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  plane: Geom,
+  box: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between a box and a plane."""
+  dist, pos, normal = plane_box(plane.normal, plane.pos, box.pos, box.rot, box.size)
+  frame = make_frame(normal)
+
+  for i in range(4):
+    disti = dist[i]
+    if disti - margin < 0.0:
+      write_contact(
+        nconmax_in,
+        disti,
+        pos[i],
+        frame,
+        margin,
+        gap,
+        condim,
+        friction,
+        solref,
+        solreffriction,
+        solimp,
+        geoms,
+        worldid,
+        ncon_out,
+        contact_dist_out,
+        contact_pos_out,
+        contact_frame_out,
+        contact_includemargin_out,
+        contact_friction_out,
+        contact_solref_out,
+        contact_solreffriction_out,
+        contact_solimp_out,
+        contact_dim_out,
+        contact_geom_out,
+        contact_worldid_out,
+      )
+
+
+_HUGE_VAL = 1e6
+
+
+@wp.func
+def plane_convex_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  plane: Geom,
+  convex: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between a plane and a convex object."""
+  dist, pos, normal = plane_convex(plane.normal, plane.pos, convex)
+
+  frame = make_frame(normal)
+  for i in range(4):
+    disti = dist[i]
+    if disti - margin < 0.0:
+      write_contact(
+        nconmax_in,
+        disti,
+        pos[i],
+        frame,
+        margin,
+        gap,
+        condim,
+        friction,
+        solref,
+        solreffriction,
+        solimp,
+        geoms,
+        worldid,
+        ncon_out,
+        contact_dist_out,
+        contact_pos_out,
+        contact_frame_out,
+        contact_includemargin_out,
+        contact_friction_out,
+        contact_solref_out,
+        contact_solreffriction_out,
+        contact_solimp_out,
+        contact_dim_out,
+        contact_geom_out,
+        contact_worldid_out,
+      )
+
+
+@wp.func
+def sphere_cylinder_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  sphere: Geom,
+  cylinder: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between a sphere and a cylinder."""
+  # cylinder axis
+  cylinder_axis = wp.vec3(cylinder.rot[0, 2], cylinder.rot[1, 2], cylinder.rot[2, 2])
+
+  dist, pos, normal = sphere_cylinder(
+    sphere.pos,
+    sphere.size[0],  # sphere radius
+    cylinder.pos,
+    cylinder_axis,
+    cylinder.size[0],  # cylinder radius
+    cylinder.size[1],  # cylinder half_height
+  )
+
+  if dist - margin < 0.0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
+
+
+@wp.func
+def plane_cylinder_wrapper(
+  # Data in:
+  nconmax_in: int,
+  # In:
+  plane: Geom,
+  cylinder: Geom,
+  worldid: int,
+  margin: float,
+  gap: float,
+  condim: int,
+  friction: vec5,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
+  solimp: vec5,
+  geoms: wp.vec2i,
+  # Data out:
+  ncon_out: wp.array(dtype=int),
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  """Calculates contacts between a cylinder and a plane."""
+  # cylinder axis
+  cylinder_axis = wp.vec3(cylinder.rot[0, 2], cylinder.rot[1, 2], cylinder.rot[2, 2])
+
+  dist, pos, normal = plane_cylinder(
+    plane.normal,
+    plane.pos,
+    cylinder.pos,
+    cylinder_axis,
+    cylinder.size[0],  # radius
+    cylinder.size[1],  # half_height
+  )
+
+  frame = make_frame(normal)
+  for i in range(4):
+    disti = dist[i]
+    if disti - margin < 0.0:
+      write_contact(
+        nconmax_in,
+        disti,
+        pos[i],
+        frame,
+        margin,
+        gap,
+        condim,
+        friction,
+        solref,
+        solreffriction,
+        solimp,
+        geoms,
+        worldid,
+        ncon_out,
+        contact_dist_out,
+        contact_pos_out,
+        contact_frame_out,
+        contact_includemargin_out,
+        contact_friction_out,
+        contact_solref_out,
+        contact_solreffriction_out,
+        contact_solimp_out,
+        contact_dim_out,
+        contact_geom_out,
+        contact_worldid_out,
+      )
+
+
+@wp.func
+def sphere_box_wrapper(
   # Data in:
   nconmax_in: int,
   # In:
@@ -1696,8 +1203,8 @@ def sphere_box(
   gap: float,
   condim: int,
   friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
   solimp: vec5,
   geoms: wp.vec2i,
   # Data out:
@@ -1714,39 +1221,40 @@ def sphere_box(
   contact_geom_out: wp.array(dtype=wp.vec2i),
   contact_worldid_out: wp.array(dtype=int),
 ):
-  _sphere_box(
-    nconmax_in,
-    sphere.pos,
-    sphere.size[0],
-    box.pos,
-    box.rot,
-    box.size,
-    worldid,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
-  )
+  dist, pos, normal = sphere_box(sphere.pos, sphere.size[0], box.pos, box.rot, box.size)
+
+  if dist - margin < 0.0:
+    write_contact(
+      nconmax_in,
+      dist,
+      pos,
+      make_frame(normal),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
+    )
 
 
 @wp.func
-def capsule_box(
+def capsule_box_wrapper(
   # Data in:
   nconmax_in: int,
   # In:
@@ -1757,8 +1265,8 @@ def capsule_box(
   gap: float,
   condim: int,
   friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
   solimp: vec5,
   geoms: wp.vec2i,
   # Data out:
@@ -1776,396 +1284,55 @@ def capsule_box(
   contact_worldid_out: wp.array(dtype=int),
 ):
   """Calculates contacts between a capsule and a box."""
-  # Based on the mjc implementation
-  boxmatT = wp.transpose(box.rot)
-  pos = boxmatT @ (cap.pos - box.pos)
-  axis = boxmatT @ wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
-  halfaxis = axis * cap.size[1]  # halfaxis is the capsule direction
-  axisdir = wp.int32(halfaxis[0] > 0.0) + 2 * wp.int32(halfaxis[1] > 0.0) + 4 * wp.int32(halfaxis[2] > 0.0)
+  # Extract capsule axis
+  axis = wp.vec3(cap.rot[0, 2], cap.rot[1, 2], cap.rot[2, 2])
 
-  bestdistmax = margin + 2.0 * (cap.size[0] + cap.size[1] + box.size[0] + box.size[1] + box.size[2])
-
-  # keep track of closest point
-  bestdist = wp.float32(bestdistmax)
-  bestsegmentpos = wp.float32(-12)
-
-  # cltype: encoded collision configuration
-  # cltype / 3 == 0 : lower corner is closest to the capsule
-  #            == 2 : upper corner is closest to the capsule
-  #            == 1 : middle of the edge is closest to the capsule
-  # cltype % 3 == 0 : lower corner is closest to the box
-  #            == 2 : upper corner is closest to the box
-  #            == 1 : middle of the capsule is closest to the box
-  cltype = wp.int32(-4)
-
-  # clface: index of the closest face of the box to the capsule
-  # -1: no face is closest (edge or corner is closest)
-  # 0, 1, 2: index of the axis perpendicular to the closest face
-  clface = wp.int32(-12)
-
-  # first: consider cases where a face of the box is closest
-  for i in range(-1, 2, 2):
-    axisTip = pos + wp.float32(i) * halfaxis
-    boxPoint = wp.vec3(axisTip)
-
-    n_out = wp.int32(0)
-    ax_out = wp.int32(-1)
-
-    for j in range(3):
-      if boxPoint[j] < -box.size[j]:
-        n_out += 1
-        ax_out = j
-        boxPoint[j] = -box.size[j]
-      elif boxPoint[j] > box.size[j]:
-        n_out += 1
-        ax_out = j
-        boxPoint[j] = box.size[j]
-
-    if n_out > 1:
-      continue
-
-    dist = wp.length_sq(boxPoint - axisTip)
-
-    if dist < bestdist:
-      bestdist = dist
-      bestsegmentpos = wp.float32(i)
-      cltype = -2 + i
-      clface = ax_out
-
-  # second: consider cases where an edge of the box is closest
-  clcorner = wp.int32(-123)  # which corner is the closest
-  cledge = wp.int32(-123)  # which axis
-  bestboxpos = wp.float32(0.0)
-
-  for i in range(8):
-    for j in range(3):
-      if i & (1 << j) != 0:
-        continue
-
-      c2 = wp.int32(-123)
-
-      # box_pt is the starting point (corner) on the box
-      box_pt = wp.cw_mul(
-        wp.vec3(
-          wp.where(i & 1, 1.0, -1.0),
-          wp.where(i & 2, 1.0, -1.0),
-          wp.where(i & 4, 1.0, -1.0),
-        ),
-        box.size,
-      )
-      box_pt[j] = 0.0
-
-      # find closest point between capsule and the edge
-      dif = box_pt - pos
-
-      u = -box.size[j] * dif[j]
-      v = wp.dot(halfaxis, dif)
-      ma = box.size[j] * box.size[j]
-      mb = -box.size[j] * halfaxis[j]
-      mc = cap.size[1] * cap.size[1]
-      det = ma * mc - mb * mb
-      if wp.abs(det) < MJ_MINVAL:
-        continue
-
-      idet = 1.0 / det
-      # sX : X=1 means middle of segment. X=0 or 2 one or the other end
-
-      x1 = wp.float32((mc * u - mb * v) * idet)
-      x2 = wp.float32((ma * v - mb * u) * idet)
-
-      s1 = wp.int32(1)
-      s2 = wp.int32(1)
-
-      if x1 > 1:
-        x1 = 1.0
-        s1 = 2
-        x2 = safe_div(v - mb, mc)
-      elif x1 < -1:
-        x1 = -1.0
-        s1 = 0
-        x2 = safe_div(v + mb, mc)
-
-      x2_over = x2 > 1.0
-      if x2_over or x2 < -1.0:
-        if x2_over:
-          x2 = 1.0
-          s2 = 2
-          x1 = safe_div(u - mb, ma)
-        else:
-          x2 = -1.0
-          s2 = 0
-          x1 = safe_div(u + mb, ma)
-
-        if x1 > 1:
-          x1 = 1.0
-          s1 = 2
-        elif x1 < -1:
-          x1 = -1.0
-          s1 = 0
-
-      dif -= halfaxis * x2
-      dif[j] += box.size[j] * x1
-
-      # encode relative positions of the closest points
-      ct = s1 * 3 + s2
-
-      dif_sq = wp.length_sq(dif)
-      if dif_sq < bestdist - MJ_MINVAL:
-        bestdist = dif_sq
-        bestsegmentpos = x2
-        bestboxpos = x1
-        # ct<6 means closest point on box is at lower end or middle of edge
-        c2 = ct // 6
-
-        clcorner = i + (1 << j) * c2  # index of closest box corner
-        cledge = j  # axis index of closest box edge
-        cltype = ct  # encoded collision configuration
-
-  best = wp.float32(0.0)
-
-  p = wp.vec2(pos.x, pos.y)
-  dd = wp.vec2(halfaxis.x, halfaxis.y)
-  s = wp.vec2(box.size.x, box.size.y)
-  secondpos = wp.float32(-4.0)
-
-  uu = dd.x * s.y
-  vv = dd.y * s.x
-  w_neg = dd.x * p.y - dd.y * p.x < 0
-
-  best = wp.float32(-1.0)
-
-  ee1 = uu - vv
-  ee2 = uu + vv
-
-  if wp.abs(ee1) > best:
-    best = wp.abs(ee1)
-    c1 = wp.where((ee1 < 0) == w_neg, 0, 3)
-
-  if wp.abs(ee2) > best:
-    best = wp.abs(ee2)
-    c1 = wp.where((ee2 > 0) == w_neg, 1, 2)
-
-  if cltype == -4:  # invalid type
-    return
-
-  if cltype >= 0 and cltype // 3 != 1:  # closest to a corner of the box
-    c1 = axisdir ^ clcorner
-    # Calculate relative orientation between capsule and corner
-    # There are two possible configurations:
-    # 1. Capsule axis points toward/away from corner
-    # 2. Capsule axis aligns with a face or edge
-    if c1 != 0 and c1 != 7:  # create second contact point
-      if c1 == 1 or c1 == 2 or c1 == 4:
-        mul = 1
-      else:
-        mul = -1
-        c1 = 7 - c1
-
-      # "de" and "dp" distance from first closest point on the capsule to both ends of it
-      # mul is a direction along the capsule's axis
-
-      if c1 == 1:
-        ax = 0
-        ax1 = 1
-        ax2 = 2
-      elif c1 == 2:
-        ax = 1
-        ax1 = 2
-        ax2 = 0
-      elif c1 == 4:
-        ax = 2
-        ax1 = 0
-        ax2 = 1
-
-      if axis[ax] * axis[ax] > 0.5:  # second point along the edge of the box
-        m = 2.0 * safe_div(box.size[ax], wp.abs(halfaxis[ax]))
-        secondpos = min(1.0 - wp.float32(mul) * bestsegmentpos, m)
-      else:  # second point along a face of the box
-        # check for overshoot again
-        m = 2.0 * min(
-          safe_div(box.size[ax1], wp.abs(halfaxis[ax1])),
-          safe_div(box.size[ax2], wp.abs(halfaxis[ax2])),
-        )
-        secondpos = -min(1.0 + wp.float32(mul) * bestsegmentpos, m)
-      secondpos *= wp.float32(mul)
-
-  elif cltype >= 0 and cltype // 3 == 1:  # we are on box's edge
-    # Calculate relative orientation between capsule and edge
-    # Two possible configurations:
-    # - T configuration: c1 = 2^n (no additional contacts)
-    # - X configuration: c1 != 2^n (potential additional contacts)
-    c1 = axisdir ^ clcorner
-    c1 &= 7 - (1 << cledge)  # mask out edge axis to determine configuration
-
-    if c1 == 1 or c1 == 2 or c1 == 4:  # create second contact point
-      if cledge == 0:
-        ax1 = 1
-        ax2 = 2
-      if cledge == 1:
-        ax1 = 2
-        ax2 = 0
-      if cledge == 2:
-        ax1 = 0
-        ax2 = 1
-      ax = cledge
-
-      # find which face the capsule has a lower angle, and switch the axis
-      if wp.abs(axis[ax1]) > wp.abs(axis[ax2]):
-        ax1 = ax2
-      ax2 = 3 - ax - ax1
-
-      # mul determines direction along capsule axis for second contact point
-      if c1 & (1 << ax2):
-        mul = 1
-        secondpos = 1.0 - bestsegmentpos
-      else:
-        mul = -1
-        secondpos = 1.0 + bestsegmentpos
-
-      # now find out whether we point towards the opposite side or towards one of the sides
-      # and also find the farthest point along the capsule that is above the box
-
-      e1 = 2.0 * safe_div(box.size[ax2], wp.abs(halfaxis[ax2]))
-      secondpos = min(e1, secondpos)
-
-      if ((axisdir & (1 << ax)) != 0) == ((c1 & (1 << ax2)) != 0):
-        e2 = 1.0 - bestboxpos
-      else:
-        e2 = 1.0 + bestboxpos
-
-      e1 = box.size[ax] * safe_div(e2, wp.abs(halfaxis[ax]))
-
-      secondpos = min(e1, secondpos)
-      secondpos *= wp.float32(mul)
-
-  elif cltype < 0:
-    # similarly we handle the case when one capsule's end is closest to a face of the box
-    # and find where is the other end pointing to and clamping to the farthest point
-    # of the capsule that's above the box
-    # if the closest point is inside the box there's no need for a second point
-
-    if clface != -1:  # create second contact point
-      mul = wp.where(cltype == -3, 1, -1)
-      secondpos = 2.0
-
-      tmp1 = pos - halfaxis * wp.float32(mul)
-
-      for i in range(3):
-        if i != clface:
-          ha_r = safe_div(wp.float32(mul), halfaxis[i])
-          e1 = (box.size[i] - tmp1[i]) * ha_r
-          if 0 < e1 and e1 < secondpos:
-            secondpos = e1
-
-          e1 = (-box.size[i] - tmp1[i]) * ha_r
-          if 0 < e1 and e1 < secondpos:
-            secondpos = e1
-
-      secondpos *= wp.float32(mul)
-
-  # create sphere in original orientation at first contact point
-  s1_pos_l = pos + halfaxis * bestsegmentpos
-  s1_pos_g = box.rot @ s1_pos_l + box.pos
-
-  # collide with sphere
-  _sphere_box(
-    nconmax_in,
-    s1_pos_g,
-    cap.size[0],
+  # Call the core function to get contact geometry
+  dist, pos, normal = capsule_box(
+    cap.pos,
+    axis,
+    cap.size[0],  # capsule radius
+    cap.size[1],  # capsule half length
     box.pos,
     box.rot,
     box.size,
-    worldid,
-    margin,
-    gap,
-    condim,
-    friction,
-    solref,
-    solreffriction,
-    solimp,
-    geoms,
-    ncon_out,
-    contact_dist_out,
-    contact_pos_out,
-    contact_frame_out,
-    contact_includemargin_out,
-    contact_friction_out,
-    contact_solref_out,
-    contact_solreffriction_out,
-    contact_solimp_out,
-    contact_dim_out,
-    contact_geom_out,
-    contact_worldid_out,
   )
 
-  if secondpos > -3:  # secondpos was modified
-    s2_pos_l = pos + halfaxis * (secondpos + bestsegmentpos)
-    s2_pos_g = box.rot @ s2_pos_l + box.pos
-    _sphere_box(
-      nconmax_in,
-      s2_pos_g,
-      cap.size[0],
-      box.pos,
-      box.rot,
-      box.size,
-      worldid,
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
+  # Loop over the contacts and write them
+  for i in range(2):
+    disti = dist[i]
+    if disti - margin < 0.0:
+      write_contact(
+        nconmax_in,
+        disti,
+        pos[i],
+        make_frame(normal[i]),
+        margin,
+        gap,
+        condim,
+        friction,
+        solref,
+        solreffriction,
+        solimp,
+        geoms,
+        worldid,
+        ncon_out,
+        contact_dist_out,
+        contact_pos_out,
+        contact_frame_out,
+        contact_includemargin_out,
+        contact_friction_out,
+        contact_solref_out,
+        contact_solreffriction_out,
+        contact_solimp_out,
+        contact_dim_out,
+        contact_geom_out,
+        contact_worldid_out,
+      )
 
 
 @wp.func
-def _compute_rotmore(face_idx: int) -> wp.mat33:
-  rotmore = wp.mat33(0.0)
-
-  if face_idx == 0:
-    rotmore[0, 2] = -1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 0] = +1.0
-  elif face_idx == 1:
-    rotmore[0, 0] = +1.0
-    rotmore[1, 2] = -1.0
-    rotmore[2, 1] = +1.0
-  elif face_idx == 2:
-    rotmore[0, 0] = +1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 2] = +1.0
-  elif face_idx == 3:
-    rotmore[0, 2] = +1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 0] = -1.0
-  elif face_idx == 4:
-    rotmore[0, 0] = +1.0
-    rotmore[1, 2] = +1.0
-    rotmore[2, 1] = -1.0
-  elif face_idx == 5:
-    rotmore[0, 0] = -1.0
-    rotmore[1, 1] = +1.0
-    rotmore[2, 2] = -1.0
-
-  return rotmore
-
-
-@wp.func
-def box_box(
+def box_box_wrapper(
   # Data in:
   nconmax_in: int,
   # In:
@@ -2176,8 +1343,8 @@ def box_box(
   gap: float,
   condim: int,
   friction: vec5,
-  solref: wp.vec2f,
-  solreffriction: wp.vec2f,
+  solref: wp.vec2,
+  solreffriction: wp.vec2,
   solimp: vec5,
   geoms: wp.vec2i,
   # Data out:
@@ -2194,450 +1361,64 @@ def box_box(
   contact_geom_out: wp.array(dtype=wp.vec2i),
   contact_worldid_out: wp.array(dtype=int),
 ):
-  # Compute transforms between box's frames
+  """Calculates contacts between two boxes."""
+  # Call the core function to get contact geometry
+  dist, pos, normal = box_box(
+    box1.pos,
+    box1.rot,
+    box1.size,
+    box2.pos,
+    box2.rot,
+    box2.size,
+  )
 
-  pos21 = wp.transpose(box1.rot) @ (box2.pos - box1.pos)
-  pos12 = wp.transpose(box2.rot) @ (box1.pos - box2.pos)
+  for i in range(8):
+    if dist[i] - margin >= 0.0:
+      continue
 
-  rot21 = wp.transpose(box1.rot) @ box2.rot
-  rot12 = wp.transpose(rot21)
-
-  rot21abs = wp.matrix_from_rows(wp.abs(rot21[0]), wp.abs(rot21[1]), wp.abs(rot21[2]))
-  rot12abs = wp.transpose(rot21abs)
-
-  plen2 = rot21abs @ box2.size
-  plen1 = rot12abs @ box1.size
-
-  # Compute axis of maximum separation
-  s_sum_3 = 3.0 * (box1.size + box2.size)
-  separation = wp.float32(margin + s_sum_3[0] + s_sum_3[1] + s_sum_3[2])
-  axis_code = wp.int32(-1)
-
-  # First test: consider boxes' face normals
-  for i in range(3):
-    c1 = -wp.abs(pos21[i]) + box1.size[i] + plen2[i]
-
-    c2 = -wp.abs(pos12[i]) + box2.size[i] + plen1[i]
-
-    if c1 < -margin or c2 < -margin:
-      return
-
-    if c1 < separation:
-      separation = c1
-      axis_code = i + 3 * wp.int32(pos21[i] < 0) + 0  # Face of box1
-    if c2 < separation:
-      separation = c2
-      axis_code = i + 3 * wp.int32(pos12[i] < 0) + 6  # Face of box2
-
-  clnorm = wp.vec3(0.0)
-  inv = wp.bool(False)
-  cle1 = wp.int32(0)
-  cle2 = wp.int32(0)
-
-  # Second test: consider cross products of boxes' edges
-  for i in range(3):
-    for j in range(3):
-      # Compute cross product of box edges (potential separating axis)
-      if i == 0:
-        cross_axis = wp.vec3(0.0, -rot12[j, 2], rot12[j, 1])
-      elif i == 1:
-        cross_axis = wp.vec3(rot12[j, 2], 0.0, -rot12[j, 0])
-      else:
-        cross_axis = wp.vec3(-rot12[j, 1], rot12[j, 0], 0.0)
-
-      cross_length = wp.length(cross_axis)
-      if cross_length < MJ_MINVAL:
-        continue
-
-      cross_axis /= cross_length
-
-      box_dist = wp.dot(pos21, cross_axis)
-      c3 = wp.float32(0.0)
-
-      # Project box half-sizes onto the potential separating axis
-      for k in range(3):
-        if k != i:
-          c3 += box1.size[k] * wp.abs(cross_axis[k])
-        if k != j:
-          c3 += box2.size[k] * rot21abs[i, 3 - k - j] / cross_length
-
-      c3 -= wp.abs(box_dist)
-
-      # Early exit: no collision if separated along this axis
-      if c3 < -margin:
-        return
-
-      # Track minimum separation and which edge-edge pair it occurs on
-      if c3 < separation * (1.0 - 1e-12):
-        separation = c3
-        # Determine which corners/edges are closest
-        cle1 = 0
-        cle2 = 0
-
-        for k in range(3):
-          if k != i and (int(cross_axis[k] > 0) ^ int(box_dist < 0)):
-            cle1 += 1 << k
-          if k != j:
-            if int(rot21[i, 3 - k - j] > 0) ^ int(box_dist < 0) ^ int((k - j + 3) % 3 == 1):
-              cle2 += 1 << k
-
-        axis_code = 12 + i * 3 + j
-        clnorm = cross_axis
-        inv = box_dist < 0
-
-  # No axis with separation < margin found
-  if axis_code == -1:
-    return
-
-  points = mat83f()
-  depth = vec8f()
-  max_con_pair = 8
-  # 8 contacts should suffice for most configurations
-
-  if axis_code < 12:
-    # Handle face-vertex collision
-    face_idx = axis_code % 6
-    box_idx = axis_code // 6
-    rotmore = _compute_rotmore(face_idx)
-
-    r = rotmore @ wp.where(box_idx, rot12, rot21)
-    p = rotmore @ wp.where(box_idx, pos12, pos21)
-    ss = wp.abs(rotmore @ wp.where(box_idx, box2.size, box1.size))
-    s = wp.where(box_idx, box1.size, box2.size)
-    rt = wp.transpose(r)
-
-    lx, ly, hz = ss[0], ss[1], ss[2]
-    p[2] -= hz
-
-    clcorner = wp.int32(0)  # corner of non-face box with least axis separation
-
-    for i in range(3):
-      if r[2, i] < 0:
-        clcorner += 1 << i
-
-    lp = p
-    for i in range(wp.static(3)):
-      lp += rt[i] * s[i] * wp.where(clcorner & 1 << i, 1.0, -1.0)
-
-    m = wp.int32(1)
-    dirs = wp.int32(0)
-
-    cn1 = wp.vec3(0.0)
-    cn2 = wp.vec3(0.0)
-
-    for i in range(3):
-      if wp.abs(r[2, i]) < 0.5:
-        if not dirs:
-          cn1 = rt[i] * s[i] * wp.where(clcorner & (1 << i), -2.0, 2.0)
-        else:
-          cn2 = rt[i] * s[i] * wp.where(clcorner & (1 << i), -2.0, 2.0)
-
-        dirs += 1
-
-    k = dirs * dirs
-
-    # Find potential contact points
-
-    n = wp.int32(0)
-
-    for i in range(k):
-      for q in range(2):
-        # lines_a and lines_b (lines between corners) computed on the fly
-        lav = lp + wp.where(i < 2, wp.vec3(0.0), wp.where(i == 2, cn1, cn2))
-        lbv = wp.where(i == 0 or i == 3, cn1, cn2)
-
-        if wp.abs(lbv[q]) > MJ_MINVAL:
-          br = 1.0 / lbv[q]
-          for j in range(-1, 2, 2):
-            l = ss[q] * wp.float32(j)
-            c1 = (l - lav[q]) * br
-            if c1 < 0 or c1 > 1:
-              continue
-            c2 = lav[1 - q] + lbv[1 - q] * c1
-            if wp.abs(c2) > ss[1 - q]:
-              continue
-
-            points[n] = lav + c1 * lbv
-            n += 1
-
-    if dirs == 2:
-      ax = cn1[0]
-      bx = cn2[0]
-      ay = cn1[1]
-      by = cn2[1]
-      C = safe_div(1.0, ax * by - bx * ay)
-
-      for i in range(4):
-        llx = wp.where(i // 2, lx, -lx)
-        lly = wp.where(i % 2, ly, -ly)
-
-        x = llx - lp[0]
-        y = lly - lp[1]
-
-        u = (x * by - y * bx) * C
-        v = (y * ax - x * ay) * C
-
-        if u > 0 and v > 0 and u < 1 and v < 1:
-          points[n] = wp.vec3(llx, lly, lp[2] + u * cn1[2] + v * cn2[2])
-          n += 1
-
-    for i in range(1 << dirs):
-      tmpv = lp + wp.float32(i & 1) * cn1 + wp.float32((i & 2) != 0) * cn2
-      if tmpv[0] > -lx and tmpv[0] < lx and tmpv[1] > -ly and tmpv[1] < ly:
-        points[n] = tmpv
-        n += 1
-
-    m = n
-    n = wp.int32(0)
-
-    for i in range(m):
-      if points[i][2] > margin:
-        continue
-      if i != n:
-        points[n] = points[i]
-
-      points[n, 2] *= 0.5
-      depth[n] = points[n, 2]
-      n += 1
-
-    # Set up contact frame
-    rw = wp.where(box_idx, box2.rot, box1.rot) @ wp.transpose(rotmore)
-    pw = wp.where(box_idx, box2.pos, box1.pos)
-    normal = wp.where(box_idx, -1.0, 1.0) * wp.transpose(rw)[2]
-
-  else:
-    # Handle edge-edge collision
-    edge1 = (axis_code - 12) // 3
-    edge2 = (axis_code - 12) % 3
-
-    # Set up non-contacting edges ax1, ax2 for box2 and pax1, pax2 for box 1
-    ax1 = wp.int(1 - (edge2 & 1))
-    ax2 = wp.int(2 - (edge2 & 2))
-
-    pax1 = wp.int(1 - (edge1 & 1))
-    pax2 = wp.int(2 - (edge1 & 2))
-
-    if rot21abs[edge1, ax1] < rot21abs[edge1, ax2]:
-      ax1, ax2 = ax2, ax1
-
-    if rot12abs[edge2, pax1] < rot12abs[edge2, pax2]:
-      pax1, pax2 = pax2, pax1
-
-    rotmore = _compute_rotmore(wp.where(cle1 & (1 << pax2), pax2, pax2 + 3))
-
-    # Transform coordinates for edge-edge contact calculation
-    p = rotmore @ pos21
-    rnorm = rotmore @ clnorm
-    r = rotmore @ rot21
-    rt = wp.transpose(r)
-    s = wp.abs(wp.transpose(rotmore) @ box1.size)
-
-    lx, ly, hz = s[0], s[1], s[2]
-    p[2] -= hz
-
-    # Calculate closest box2 face
-
-    points[0] = (
-      p
-      + rt[ax1] * box2.size[ax1] * wp.where(cle2 & (1 << ax1), 1.0, -1.0)
-      + rt[ax2] * box2.size[ax2] * wp.where(cle2 & (1 << ax2), 1.0, -1.0)
+    write_contact(
+      nconmax_in,
+      dist[i],
+      pos[i],
+      make_frame(normal[i]),
+      margin,
+      gap,
+      condim,
+      friction,
+      solref,
+      solreffriction,
+      solimp,
+      geoms,
+      worldid,
+      ncon_out,
+      contact_dist_out,
+      contact_pos_out,
+      contact_frame_out,
+      contact_includemargin_out,
+      contact_friction_out,
+      contact_solref_out,
+      contact_solreffriction_out,
+      contact_solimp_out,
+      contact_dim_out,
+      contact_geom_out,
+      contact_worldid_out,
     )
-    points[1] = points[0] - rt[edge2] * box2.size[edge2]
-    points[0] += rt[edge2] * box2.size[edge2]
-
-    points[2] = (
-      p
-      + rt[ax1] * box2.size[ax1] * wp.where(cle2 & (1 << ax1), -1.0, 1.0)
-      + rt[ax2] * box2.size[ax2] * wp.where(cle2 & (1 << ax2), 1.0, -1.0)
-    )
-
-    points[3] = points[2] - rt[edge2] * box2.size[edge2]
-    points[2] += rt[edge2] * box2.size[edge2]
-
-    n = 4
-
-    # Set up coordinate axes for contact face of box2
-    axi_lp = points[0]
-    axi_cn1 = points[1] - points[0]
-    axi_cn2 = points[2] - points[0]
-
-    # Check if contact normal is valid
-    if wp.abs(rnorm[2]) < MJ_MINVAL:
-      return  # Shouldn't happen
-
-    # Calculate inverse normal for projection
-    innorm = wp.where(inv, -1.0, 1.0) / rnorm[2]
-
-    pu = mat43f()
-
-    # Project points onto contact plane
-    for i in range(4):
-      pu[i] = points[i]
-      c_scl = points[i, 2] * wp.where(inv, -1.0, 1.0) * innorm
-      points[i] -= rnorm * c_scl
-
-    pts_lp = points[0]
-    pts_cn1 = points[1] - points[0]
-    pts_cn2 = points[2] - points[0]
-
-    n = wp.int32(0)
-
-    for i in range(4):
-      for q in range(2):
-        la = pts_lp[q] + wp.where(i < 2, 0.0, wp.where(i == 2, pts_cn1[q], pts_cn2[q]))
-        lb = wp.where(i == 0 or i == 3, pts_cn1[q], pts_cn2[q])
-        lc = pts_lp[1 - q] + wp.where(i < 2, 0.0, wp.where(i == 2, pts_cn1[1 - q], pts_cn2[1 - q]))
-        ld = wp.where(i == 0 or i == 3, pts_cn1[1 - q], pts_cn2[1 - q])
-
-        # linesu_a and linesu_b (lines between corners) computed on the fly
-        lua = axi_lp + wp.where(i < 2, wp.vec3(0.0), wp.where(i == 2, axi_cn1, axi_cn2))
-        lub = wp.where(i == 0 or i == 3, axi_cn1, axi_cn2)
-
-        if wp.abs(lb) > MJ_MINVAL:
-          br = 1.0 / lb
-          for j in range(-1, 2, 2):
-            if n == max_con_pair:
-              break
-            l = s[q] * wp.float32(j)
-            c1 = (l - la) * br
-            if c1 < 0 or c1 > 1:
-              continue
-            c2 = lc + ld * c1
-            if wp.abs(c2) > s[1 - q]:
-              continue
-            if (lua[2] + lub[2] * c1) * innorm > margin:
-              continue
-
-            points[n] = lua * 0.5 + c1 * lub * 0.5
-            points[n, q] += 0.5 * l
-            points[n, 1 - q] += 0.5 * c2
-            depth[n] = points[n, 2] * innorm * 2.0
-            n += 1
-
-    nl = n
-
-    ax = pts_cn1[0]
-    bx = pts_cn2[0]
-    ay = pts_cn1[1]
-    by = pts_cn2[1]
-    C = safe_div(1.0, ax * by - bx * ay)
-
-    for i in range(4):
-      if n == max_con_pair:
-        break
-      llx = wp.where(i // 2, lx, -lx)
-      lly = wp.where(i % 2, ly, -ly)
-
-      x = llx - pts_lp[0]
-      y = lly - pts_lp[1]
-
-      u = (x * by - y * bx) * C
-      v = (y * ax - x * ay) * C
-
-      if nl == 0:
-        if (u < 0 or u > 1) and (v < 0 or v > 1):
-          continue
-      elif u < 0 or v < 0 or u > 1 or v > 1:
-        continue
-
-      u = wp.clamp(u, 0.0, 1.0)
-      v = wp.clamp(v, 0.0, 1.0)
-      w = 1.0 - u - v
-      vtmp = pu[0] * w + pu[1] * u + pu[2] * v
-
-      points[n] = wp.vec3(llx, lly, 0.0)
-
-      vtmp2 = points[n] - vtmp
-      tc1 = wp.length_sq(vtmp2)
-      if vtmp[2] > 0 and tc1 > margin * margin:
-        continue
-
-      points[n] = 0.5 * (points[n] + vtmp)
-
-      depth[n] = wp.sqrt(tc1) * wp.where(vtmp[2] < 0, -1.0, 1.0)
-      n += 1
-
-    nf = n
-
-    for i in range(4):
-      if n >= max_con_pair:
-        break
-      x = pu[i, 0]
-      y = pu[i, 1]
-      if nl == 0 and nf != 0:
-        if (x < -lx or x > lx) and (y < -ly or y > ly):
-          continue
-      elif x < -lx or x > lx or y < -ly or y > ly:
-        continue
-
-      c1 = wp.float32(0)
-
-      for j in range(2):
-        if pu[i, j] < -s[j]:
-          c1 += (pu[i, j] + s[j]) * (pu[i, j] + s[j])
-        elif pu[i, j] > s[j]:
-          c1 += (pu[i, j] - s[j]) * (pu[i, j] - s[j])
-
-      c1 += pu[i, 2] * innorm * pu[i, 2] * innorm
-
-      if pu[i, 2] > 0 and c1 > margin * margin:
-        continue
-
-      tmp_p = wp.vec3(pu[i, 0], pu[i, 1], 0.0)
-
-      for j in range(2):
-        if pu[i, j] < -s[j]:
-          tmp_p[j] = -s[j] * 0.5
-        elif pu[i, j] > s[j]:
-          tmp_p[j] = +s[j] * 0.5
-
-      tmp_p += pu[i]
-      points[n] = tmp_p * 0.5
-
-      depth[n] = wp.sqrt(c1) * wp.where(pu[i, 2] < 0, -1.0, 1.0)
-      n += 1
-
-    # Set up contact data for all points
-    rw = box1.rot @ wp.transpose(rotmore)
-    pw = box1.pos
-    normal = wp.where(inv, -1.0, 1.0) * rw @ rnorm
-
-  frame = make_frame(normal)
-  coff = wp.atomic_add(ncon_out, 0, n)
-
-  for i in range(min(nconmax_in - coff, n)):
-    points[i, 2] += hz
-    pos = rw @ points[i] + pw
-
-    cid = coff + i
-
-    contact_dist_out[cid] = depth[i]
-    contact_pos_out[cid] = pos
-    contact_frame_out[cid] = frame
-    contact_geom_out[cid] = geoms
-    contact_worldid_out[cid] = worldid
-    contact_includemargin_out[cid] = margin - gap
-    contact_dim_out[cid] = condim
-    contact_friction_out[cid] = friction
-    contact_solref_out[cid] = solref
-    contact_solreffriction_out[cid] = solreffriction
-    contact_solimp_out[cid] = solimp
 
 
 _PRIMITIVE_COLLISIONS = {
-  (GeomType.PLANE.value, GeomType.SPHERE.value): plane_sphere,
-  (GeomType.PLANE.value, GeomType.CAPSULE.value): plane_capsule,
-  (GeomType.PLANE.value, GeomType.ELLIPSOID.value): plane_ellipsoid,
-  (GeomType.PLANE.value, GeomType.CYLINDER.value): plane_cylinder,
-  (GeomType.PLANE.value, GeomType.BOX.value): plane_box,
-  (GeomType.PLANE.value, GeomType.MESH.value): plane_convex,
-  (GeomType.SPHERE.value, GeomType.SPHERE.value): sphere_sphere,
-  (GeomType.SPHERE.value, GeomType.CAPSULE.value): sphere_capsule,
-  (GeomType.SPHERE.value, GeomType.CYLINDER.value): sphere_cylinder,
-  (GeomType.SPHERE.value, GeomType.BOX.value): sphere_box,
-  (GeomType.CAPSULE.value, GeomType.CAPSULE.value): capsule_capsule,
-  (GeomType.CAPSULE.value, GeomType.BOX.value): capsule_box,
-  (GeomType.BOX.value, GeomType.BOX.value): box_box,
+  (GeomType.PLANE.value, GeomType.SPHERE.value): plane_sphere_wrapper,
+  (GeomType.PLANE.value, GeomType.CAPSULE.value): plane_capsule_wrapper,
+  (GeomType.PLANE.value, GeomType.ELLIPSOID.value): plane_ellipsoid_wrapper,
+  (GeomType.PLANE.value, GeomType.CYLINDER.value): plane_cylinder_wrapper,
+  (GeomType.PLANE.value, GeomType.BOX.value): plane_box_wrapper,
+  (GeomType.PLANE.value, GeomType.MESH.value): plane_convex_wrapper,
+  (GeomType.SPHERE.value, GeomType.SPHERE.value): sphere_sphere_wrapper,
+  (GeomType.SPHERE.value, GeomType.CAPSULE.value): sphere_capsule_wrapper,
+  (GeomType.SPHERE.value, GeomType.CYLINDER.value): sphere_cylinder_wrapper,
+  (GeomType.SPHERE.value, GeomType.BOX.value): sphere_box_wrapper,
+  (GeomType.CAPSULE.value, GeomType.CAPSULE.value): capsule_capsule_wrapper,
+  (GeomType.CAPSULE.value, GeomType.BOX.value): capsule_box_wrapper,
+  (GeomType.BOX.value, GeomType.BOX.value): box_box_wrapper,
 }
 
 
@@ -2665,7 +1446,7 @@ def _primitive_narrowphase_builder(m: Model):
       _primitive_collisions_types.append(types)
       _primitive_collisions_func.append(func)
 
-  @wp.kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def _primitive_narrowphase(
     # Model:
     geom_type: wp.array(dtype=int),
@@ -2710,7 +1491,6 @@ def _primitive_narrowphase_builder(m: Model):
     geom_xpos_in: wp.array2d(dtype=wp.vec3),
     geom_xmat_in: wp.array2d(dtype=wp.mat33),
     collision_pair_in: wp.array(dtype=wp.vec2i),
-    collision_hftri_index_in: wp.array(dtype=int),
     collision_pairid_in: wp.array(dtype=int),
     collision_worldid_in: wp.array(dtype=int),
     ncollision_in: wp.array(dtype=int),
@@ -2764,24 +1544,18 @@ def _primitive_narrowphase_builder(m: Model):
       worldid,
     )
 
-    hftri_index = collision_hftri_index_in[tid]
-
-    geom1 = _geom(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      hfield_adr,
-      hfield_nrow,
-      hfield_ncol,
-      hfield_size,
-      hfield_data,
-      mesh_vertadr,
-      mesh_vertnum,
+    geom1_dataid = geom_dataid[g1]
+    geom1 = geom(
+      type1,
+      geom1_dataid,
+      geom_size[worldid, g1],
+      mesh_vertadr[geom1_dataid],
+      mesh_vertnum[geom1_dataid],
       mesh_vert,
-      mesh_graphadr,
+      mesh_graphadr[geom1_dataid],
       mesh_graph,
-      mesh_polynum,
-      mesh_polyadr,
+      mesh_polynum[geom1_dataid],
+      mesh_polyadr[geom1_dataid],
       mesh_polynormal,
       mesh_polyvertadr,
       mesh_polyvertnum,
@@ -2789,29 +1563,22 @@ def _primitive_narrowphase_builder(m: Model):
       mesh_polymapadr,
       mesh_polymapnum,
       mesh_polymap,
-      geom_xpos_in,
-      geom_xmat_in,
-      worldid,
-      g1,
-      hftri_index,
+      geom_xpos_in[worldid, g1],
+      geom_xmat_in[worldid, g1],
     )
 
-    geom2 = _geom(
-      geom_type,
-      geom_dataid,
-      geom_size,
-      hfield_adr,
-      hfield_nrow,
-      hfield_ncol,
-      hfield_size,
-      hfield_data,
-      mesh_vertadr,
-      mesh_vertnum,
+    geom2_dataid = geom_dataid[g2]
+    geom2 = geom(
+      type2,
+      geom2_dataid,
+      geom_size[worldid, g2],
+      mesh_vertadr[geom2_dataid],
+      mesh_vertnum[geom2_dataid],
       mesh_vert,
-      mesh_graphadr,
+      mesh_graphadr[geom2_dataid],
       mesh_graph,
-      mesh_polynum,
-      mesh_polyadr,
+      mesh_polynum[geom2_dataid],
+      mesh_polyadr[geom2_dataid],
       mesh_polynormal,
       mesh_polyvertadr,
       mesh_polyvertnum,
@@ -2819,11 +1586,8 @@ def _primitive_narrowphase_builder(m: Model):
       mesh_polymapadr,
       mesh_polymapnum,
       mesh_polymap,
-      geom_xpos_in,
-      geom_xmat_in,
-      worldid,
-      g2,
-      hftri_index,
+      geom_xpos_in[worldid, g2],
+      geom_xmat_in[worldid, g2],
     )
 
     for i in range(wp.static(len(_primitive_collisions_func))):
@@ -2924,7 +1688,6 @@ def primitive_narrowphase(m: Model, d: Data):
       d.geom_xpos,
       d.geom_xmat,
       d.collision_pair,
-      d.collision_hftri_index,
       d.collision_pairid,
       d.collision_worldid,
       d.ncollision,
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive_core.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive_core.py
new file mode 100644
index 00000000..f20df572
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_primitive_core.py
@@ -0,0 +1,1433 @@
+# Copyright 2025 The Newton Developers
+#
+# 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.
+# ==============================================================================
+
+from typing import Any, Tuple
+
+import warp as wp
+
+MJ_MINVAL = 1e-15
+
+
+wp.set_module_options({"enable_backward": False})
+
+
+@wp.func
+def safe_div(x: Any, y: Any) -> Any:
+  return x / wp.where(y != 0.0, y, MJ_MINVAL)
+
+
+@wp.func
+def normalize_with_norm(x: Any):
+  norm = wp.length(x)
+  if norm == 0.0:
+    return x, 0.0
+  return x / norm, norm
+
+
+@wp.func
+def closest_segment_point(a: wp.vec3, b: wp.vec3, pt: wp.vec3) -> wp.vec3:
+  """Returns the closest point on the a-b line segment to a point pt."""
+  ab = b - a
+  t = wp.dot(pt - a, ab) / (wp.dot(ab, ab) + 1e-6)
+  return a + wp.clamp(t, 0.0, 1.0) * ab
+
+
+@wp.func
+def closest_segment_point_and_dist(a: wp.vec3, b: wp.vec3, pt: wp.vec3) -> Tuple[wp.vec3, float]:
+  """Returns closest point on the line segment and the distance squared."""
+  closest = closest_segment_point(a, b, pt)
+  dist = wp.dot((pt - closest), (pt - closest))
+  return closest, dist
+
+
+@wp.func
+def closest_segment_to_segment_points(a0: wp.vec3, a1: wp.vec3, b0: wp.vec3, b1: wp.vec3) -> Tuple[wp.vec3, wp.vec3]:
+  """Returns closest points between two line segments."""
+
+  dir_a, len_a = normalize_with_norm(a1 - a0)
+  dir_b, len_b = normalize_with_norm(b1 - b0)
+
+  half_len_a = len_a * 0.5
+  half_len_b = len_b * 0.5
+  a_mid = a0 + dir_a * half_len_a
+  b_mid = b0 + dir_b * half_len_b
+
+  trans = a_mid - b_mid
+
+  dira_dot_dirb = wp.dot(dir_a, dir_b)
+  dira_dot_trans = wp.dot(dir_a, trans)
+  dirb_dot_trans = wp.dot(dir_b, trans)
+  denom = 1.0 - dira_dot_dirb * dira_dot_dirb
+
+  orig_t_a = (-dira_dot_trans + dira_dot_dirb * dirb_dot_trans) / (denom + 1e-6)
+  orig_t_b = dirb_dot_trans + orig_t_a * dira_dot_dirb
+  t_a = wp.clamp(orig_t_a, -half_len_a, half_len_a)
+  t_b = wp.clamp(orig_t_b, -half_len_b, half_len_b)
+
+  best_a = a_mid + dir_a * t_a
+  best_b = b_mid + dir_b * t_b
+
+  new_a, d1 = closest_segment_point_and_dist(a0, a1, best_b)
+  new_b, d2 = closest_segment_point_and_dist(b0, b1, best_a)
+  if d1 < d2:
+    return new_a, best_b
+  return best_a, new_b
+
+
+class vec8f(wp.types.vector(length=8, dtype=wp.float32)):
+  pass
+
+
+class mat23f(wp.types.matrix(shape=(2, 3), dtype=wp.float32)):
+  pass
+
+
+class mat43f(wp.types.matrix(shape=(4, 3), dtype=wp.float32)):
+  pass
+
+
+class mat83f(wp.types.matrix(shape=(8, 3), dtype=wp.float32)):
+  pass
+
+
+# core
+@wp.func
+def plane_sphere(plane_normal: wp.vec3, plane_pos: wp.vec3, sphere_pos: wp.vec3, sphere_radius: float) -> Tuple[float, wp.vec3]:
+  # TODO(team): docstring
+  dist = wp.dot(sphere_pos - plane_pos, plane_normal) - sphere_radius
+  pos = sphere_pos - plane_normal * (sphere_radius + 0.5 * dist)
+  return dist, pos
+
+
+@wp.func
+def sphere_sphere(
+  # In:
+  pos1: wp.vec3,
+  radius1: float,
+  pos2: wp.vec3,
+  radius2: float,
+) -> Tuple[float, wp.vec3, wp.vec3]:
+  """Sphere-sphere collision calculation.
+
+  Args:
+    pos1: Center position of the first sphere
+    radius1: Radius of the first sphere
+    pos2: Center position of the second sphere
+    radius2: Radius of the second sphere
+
+  Returns:
+    Tuple containing:
+      dist: Distance between sphere surfaces (negative if overlapping)
+      pos: Contact position
+      n: Contact normal vector
+  """
+  dir = pos2 - pos1
+  dist = wp.length(dir)
+  if dist == 0.0:
+    n = wp.vec3(1.0, 0.0, 0.0)
+  else:
+    n = dir / dist
+  dist = dist - (radius1 + radius2)
+  pos = pos1 + n * (radius1 + 0.5 * dist)
+  return dist, pos, n
+
+
+@wp.func
+def sphere_capsule(
+  # In:
+  sphere_pos: wp.vec3,
+  sphere_radius: float,
+  capsule_pos: wp.vec3,
+  capsule_axis: wp.vec3,
+  capsule_radius: float,
+  capsule_half_length: float,
+) -> Tuple[float, wp.vec3, wp.vec3]:
+  """Core contact geometry calculation for sphere-capsule collision.
+
+  Args:
+    sphere_pos: Center position of the sphere
+    sphere_radius: Radius of the sphere
+    capsule_pos: Center position of the capsule
+    capsule_axis: Axis direction of the capsule
+    capsule_radius: Radius of the capsule
+    capsule_half_length: Half length of the capsule
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+
+  # Calculate capsule segment
+  segment = capsule_axis * capsule_half_length
+
+  # Find closest point on capsule centerline to sphere center
+  pt = closest_segment_point(capsule_pos - segment, capsule_pos + segment, sphere_pos)
+
+  # Use sphere-sphere collision between sphere and closest point
+  return sphere_sphere(sphere_pos, sphere_radius, pt, capsule_radius)
+
+
+@wp.func
+def capsule_capsule(
+  # In:
+  cap1_pos: wp.vec3,
+  cap1_axis: wp.vec3,
+  cap1_radius: float,
+  cap1_half_length: float,
+  cap2_pos: wp.vec3,
+  cap2_axis: wp.vec3,
+  cap2_radius: float,
+  cap2_half_length: float,
+) -> Tuple[float, wp.vec3, wp.vec3]:
+  """Core contact geometry calculation for capsule-capsule collision.
+
+  Args:
+    cap1_pos: Center position of the first capsule
+    cap1_axis: Axis direction of the first capsule
+    cap1_radius: Radius of the first capsule
+    cap1_half_length: Half length of the first capsule
+    cap2_pos: Center position of the second capsule
+    cap2_axis: Axis direction of the second capsule
+    cap2_radius: Radius of the second capsule
+    cap2_half_length: Half length of the second capsule
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+
+  # TODO(team): parallel axes case
+
+  # Calculate capsule segments
+  seg1 = cap1_axis * cap1_half_length
+  seg2 = cap2_axis * cap2_half_length
+
+  # Find closest points between capsule centerlines
+  pt1, pt2 = closest_segment_to_segment_points(
+    cap1_pos - seg1,
+    cap1_pos + seg1,
+    cap2_pos - seg2,
+    cap2_pos + seg2,
+  )
+
+  # Use sphere-sphere collision between closest points
+  return sphere_sphere(pt1, cap1_radius, pt2, cap2_radius)
+
+
+@wp.func
+def plane_capsule(
+  # In:
+  plane_normal: wp.vec3,
+  plane_pos: wp.vec3,
+  capsule_pos: wp.vec3,
+  capsule_axis: wp.vec3,
+  capsule_radius: float,
+  capsule_half_length: float,
+) -> Tuple[wp.vec2, mat23f, wp.mat33]:
+  """Core contact geometry calculation for plane-capsule collision.
+
+  Args:
+    plane_normal: Normal vector of the plane
+    plane_pos: Position point on the plane
+    capsule_pos: Center position of the capsule
+    capsule_axis: Axis direction of the capsule
+    capsule_radius: Radius of the capsule
+    capsule_half_length: Half length of the capsule
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: Matrix of contact positions (one per row)
+      contact_frame: Contact frame for both contacts
+  """
+
+  n = plane_normal
+  axis = capsule_axis
+
+  # align contact frames with capsule axis
+  b, b_norm = normalize_with_norm(axis - n * wp.dot(n, axis))
+
+  if b_norm < 0.5:
+    if -0.5 < n[1] and n[1] < 0.5:
+      b = wp.vec3(0.0, 1.0, 0.0)
+    else:
+      b = wp.vec3(0.0, 0.0, 1.0)
+
+  c = wp.cross(n, b)
+  frame = wp.mat33(n[0], n[1], n[2], b[0], b[1], b[2], c[0], c[1], c[2])
+  segment = axis * capsule_half_length
+
+  # First contact (positive end of capsule)
+  dist1, pos1 = plane_sphere(n, plane_pos, capsule_pos + segment, capsule_radius)
+
+  # Second contact (negative end of capsule)
+  dist2, pos2 = plane_sphere(n, plane_pos, capsule_pos - segment, capsule_radius)
+
+  dist = wp.vec2(dist1, dist2)
+  pos = mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2])
+
+  return dist, pos, frame
+
+
+@wp.func
+def plane_ellipsoid(
+  # In:
+  plane_normal: wp.vec3,
+  plane_pos: wp.vec3,
+  ellipsoid_pos: wp.vec3,
+  ellipsoid_rot: wp.mat33,
+  ellipsoid_size: wp.vec3,
+) -> Tuple[float, wp.vec3, wp.vec3]:
+  """Core contact geometry calculation for plane-ellipsoid collision.
+
+  Args:
+    plane_normal: Normal vector of the plane
+    plane_pos: Position point on the plane
+    ellipsoid_pos: Center position of the ellipsoid
+    ellipsoid_rot: Rotation matrix of the ellipsoid
+    ellipsoid_size: Size (radii) of the ellipsoid along each axis
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+  sphere_support = -wp.normalize(wp.cw_mul(wp.transpose(ellipsoid_rot) @ plane_normal, ellipsoid_size))
+  pos = ellipsoid_pos + ellipsoid_rot @ wp.cw_mul(sphere_support, ellipsoid_size)
+  dist = wp.dot(plane_normal, pos - plane_pos)
+  pos = pos - plane_normal * dist * 0.5
+
+  return dist, pos, plane_normal
+
+
+@wp.func
+def plane_box(
+  # In:
+  plane_normal: wp.vec3,
+  plane_pos: wp.vec3,
+  box_pos: wp.vec3,
+  box_rot: wp.mat33,
+  box_size: wp.vec3,
+) -> Tuple[wp.vec4, mat43f, wp.vec3]:
+  """Core contact geometry calculation for plane-box collision.
+
+  Args:
+    plane_normal: Normal vector of the plane
+    plane_pos: Position point on the plane
+    box_pos: Center position of the box
+    box_rot: Rotation matrix of the box
+    box_size: Half-extents of the box along each axis
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances (wp.inf for unpopulated contacts)
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normal: contact normal vector
+  """
+
+  corner = wp.vec3()
+  center_dist = wp.dot(box_pos - plane_pos, plane_normal)
+
+  dist = wp.vec4(wp.inf)
+  pos = mat43f()
+
+  # test all corners, pick bottom 4
+  ncontact = int(0)
+  for i in range(8):
+    # get corner in local coordinates
+    corner.x = wp.where(i & 1, box_size.x, -box_size.x)
+    corner.y = wp.where(i & 2, box_size.y, -box_size.y)
+    corner.z = wp.where(i & 4, box_size.z, -box_size.z)
+
+    # get corner in global coordinates relative to box center
+    corner = box_rot * corner
+
+    # compute distance to plane, skip if too far or pointing up
+    ldist = wp.dot(plane_normal, corner)
+    if center_dist + ldist > 0 or ldist > 0:
+      continue
+
+    cdist = center_dist + ldist
+
+    dist[ncontact] = cdist
+    pos[ncontact] = corner + box_pos - 0.5 * plane_normal * cdist
+    ncontact += 1
+
+    if ncontact >= 4:
+      break
+
+  return dist, pos, plane_normal
+
+
+@wp.func
+def sphere_cylinder(
+  # In:
+  sphere_pos: wp.vec3,
+  sphere_radius: float,
+  cylinder_pos: wp.vec3,
+  cylinder_axis: wp.vec3,
+  cylinder_radius: float,
+  cylinder_half_height: float,
+) -> Tuple[float, wp.vec3, wp.vec3]:
+  """Core contact geometry calculation for sphere-cylinder collision.
+
+  Args:
+    sphere_pos: Center position of the sphere
+    sphere_radius: Radius of the sphere
+    cylinder_pos: Center position of the cylinder
+    cylinder_axis: Axis direction of the cylinder
+    cylinder_radius: Radius of the cylinder
+    cylinder_half_height: Half height of the cylinder
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+  vec = sphere_pos - cylinder_pos
+  x = wp.dot(vec, cylinder_axis)
+
+  a_proj = cylinder_axis * x
+  p_proj = vec - a_proj
+  p_proj_sqr = wp.dot(p_proj, p_proj)
+
+  collide_side = wp.abs(x) < cylinder_half_height
+  collide_cap = p_proj_sqr < (cylinder_radius * cylinder_radius)
+
+  if collide_side and collide_cap:
+    dist_cap = cylinder_half_height - wp.abs(x)
+    dist_radius = cylinder_radius - wp.sqrt(p_proj_sqr)
+
+    if dist_cap < dist_radius:
+      collide_side = False
+    else:
+      collide_cap = False
+
+  # side collision
+  if collide_side:
+    pos_target = cylinder_pos + a_proj
+    return sphere_sphere(sphere_pos, sphere_radius, pos_target, cylinder_radius)
+  # cap collision
+  elif collide_cap:
+    if x > 0.0:
+      # top cap
+      pos_cap = cylinder_pos + cylinder_axis * cylinder_half_height
+      plane_normal = cylinder_axis
+    else:
+      # bottom cap
+      pos_cap = cylinder_pos - cylinder_axis * cylinder_half_height
+      plane_normal = -cylinder_axis
+
+    dist, pos = plane_sphere(plane_normal, pos_cap, sphere_pos, sphere_radius)
+    return dist, pos, -plane_normal  # flip normal after position calculation
+  # corner collision
+  else:
+    inv_len = safe_div(1.0, wp.sqrt(p_proj_sqr))
+    p_proj = p_proj * (cylinder_radius * inv_len)
+
+    cap_offset = cylinder_axis * (wp.sign(x) * cylinder_half_height)
+    pos_corner = cylinder_pos + cap_offset + p_proj
+
+    return sphere_sphere(sphere_pos, sphere_radius, pos_corner, 0.0)
+
+
+@wp.func
+def plane_cylinder(
+  # In:
+  plane_normal: wp.vec3,
+  plane_pos: wp.vec3,
+  cylinder_center: wp.vec3,
+  cylinder_axis: wp.vec3,
+  cylinder_radius: float,
+  cylinder_half_height: float,
+) -> Tuple[wp.vec4, mat43f, wp.vec3]:
+  """Core contact geometry calculation for plane-cylinder collision.
+
+  Args:
+    plane_normal: Normal vector of the plane
+    plane_pos: Position point on the plane
+    cylinder_center: Center position of the cylinder
+    cylinder_axis: Axis direction of the cylinder
+    cylinder_radius: Radius of the cylinder
+    cylinder_half_height: Half height of the cylinder
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+
+  # Initialize output matrices
+  contact_dist = wp.vec4(wp.inf)
+  contact_pos = mat43f()
+  contact_count = 0
+
+  n = plane_normal
+  axis = cylinder_axis
+
+  # Project, make sure axis points toward plane
+  prjaxis = wp.dot(n, axis)
+  if prjaxis > 0:
+    axis = -axis
+    prjaxis = -prjaxis
+
+  # Compute normal distance from plane to cylinder center
+  dist0 = wp.dot(cylinder_center - plane_pos, n)
+
+  # Remove component of -normal along cylinder axis
+  vec = axis * prjaxis - n
+  len_sqr = wp.dot(vec, vec)
+
+  # If vector is nondegenerate, normalize and scale by radius
+  # Otherwise use cylinder's x-axis scaled by radius
+  vec = wp.where(
+    len_sqr >= 1e-12,
+    vec * safe_div(cylinder_radius, wp.sqrt(len_sqr)),
+    wp.vec3(1.0, 0.0, 0.0) * cylinder_radius,  # Default x-axis when degenerate
+  )
+
+  # Project scaled vector on normal
+  prjvec = wp.dot(vec, n)
+
+  # Scale cylinder axis by half-length
+  axis = axis * cylinder_half_height
+  prjaxis = prjaxis * cylinder_half_height
+
+  # First contact point (end cap closer to plane)
+  dist1 = dist0 + prjaxis + prjvec
+  pos1 = cylinder_center + vec + axis - n * (dist1 * 0.5)
+  contact_dist[contact_count] = dist1
+  contact_pos[contact_count] = pos1
+  contact_count = contact_count + 1
+
+  # Second contact point (end cap farther from plane)
+  dist2 = dist0 - prjaxis + prjvec
+  pos2 = cylinder_center + vec - axis - n * (dist2 * 0.5)
+  contact_dist[contact_count] = dist2
+  contact_pos[contact_count] = pos2
+  contact_count = contact_count + 1
+
+  # Try triangle contact points on side closer to plane
+  prjvec1 = -prjvec * 0.5
+  dist3 = dist0 + prjaxis + prjvec1
+  # Compute sideways vector scaled by radius*sqrt(3)/2
+  vec1 = wp.cross(vec, axis)
+  vec1 = wp.normalize(vec1) * (cylinder_radius * wp.sqrt(3.0) * 0.5)
+
+  # Add contact point A - adjust to closest side
+  pos3 = cylinder_center + vec1 + axis - vec * 0.5 - n * (dist3 * 0.5)
+  contact_dist[contact_count] = dist3
+  contact_pos[contact_count] = pos3
+  contact_count = contact_count + 1
+
+  # Add contact point B - adjust to closest side
+  pos4 = cylinder_center - vec1 + axis - vec * 0.5 - n * (dist3 * 0.5)
+  contact_dist[contact_count] = dist3
+  contact_pos[contact_count] = pos4
+  contact_count = contact_count + 1
+
+  return contact_dist, contact_pos, n
+
+
+@wp.func
+def _compute_rotmore(face_idx: int) -> wp.mat33:
+  rotmore = wp.mat33(0.0)
+
+  if face_idx == 0:
+    rotmore[0, 2] = -1.0
+    rotmore[1, 1] = +1.0
+    rotmore[2, 0] = +1.0
+  elif face_idx == 1:
+    rotmore[0, 0] = +1.0
+    rotmore[1, 2] = -1.0
+    rotmore[2, 1] = +1.0
+  elif face_idx == 2:
+    rotmore[0, 0] = +1.0
+    rotmore[1, 1] = +1.0
+    rotmore[2, 2] = +1.0
+  elif face_idx == 3:
+    rotmore[0, 2] = +1.0
+    rotmore[1, 1] = +1.0
+    rotmore[2, 0] = -1.0
+  elif face_idx == 4:
+    rotmore[0, 0] = +1.0
+    rotmore[1, 2] = +1.0
+    rotmore[2, 1] = -1.0
+  elif face_idx == 5:
+    rotmore[0, 0] = -1.0
+    rotmore[1, 1] = +1.0
+    rotmore[2, 2] = -1.0
+
+  return rotmore
+
+
+@wp.func
+def box_box(
+  # In:
+  box1_pos: wp.vec3,
+  box1_rot: wp.mat33,
+  box1_size: wp.vec3,
+  box2_pos: wp.vec3,
+  box2_rot: wp.mat33,
+  box2_size: wp.vec3,
+) -> Tuple[vec8f, mat83f, mat83f]:
+  """Core contact geometry calculation for box-box collision.
+
+  Args:
+    box1_pos: Center position of the first box
+    box1_rot: Rotation matrix of the first box
+    box1_size: Half-extents of the first box along each axis
+    box2_pos: Center position of the second box
+    box2_rot: Rotation matrix of the second box
+    box2_size: Half-extents of the second box along each axis
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances (wp.inf for unpopulated contacts)
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+
+  # Initialize output matrices
+  contact_dist = vec8f()
+  for i in range(8):
+    contact_dist[i] = wp.inf
+  contact_pos = mat83f()
+  contact_normals = mat83f()
+  contact_count = 0
+
+  # Compute transforms between box's frames
+  pos21 = wp.transpose(box1_rot) @ (box2_pos - box1_pos)
+  pos12 = wp.transpose(box2_rot) @ (box1_pos - box2_pos)
+
+  rot21 = wp.transpose(box1_rot) @ box2_rot
+  rot12 = wp.transpose(rot21)
+
+  rot21abs = wp.matrix_from_rows(wp.abs(rot21[0]), wp.abs(rot21[1]), wp.abs(rot21[2]))
+  rot12abs = wp.transpose(rot21abs)
+
+  plen2 = rot21abs @ box2_size
+  plen1 = rot12abs @ box1_size
+
+  # Compute axis of maximum separation
+  s_sum_3 = 3.0 * (box1_size + box2_size)
+  separation = wp.float32(s_sum_3[0] + s_sum_3[1] + s_sum_3[2])
+  axis_code = wp.int32(-1)
+
+  # First test: consider boxes' face normals
+  for i in range(3):
+    c1 = -wp.abs(pos21[i]) + box1_size[i] + plen2[i]
+
+    c2 = -wp.abs(pos12[i]) + box2_size[i] + plen1[i]
+
+    if c1 < 0.0 or c2 < 0.0:
+      return contact_dist, contact_pos, contact_normals
+
+    if c1 < separation:
+      separation = c1
+      axis_code = i + 3 * wp.int32(pos21[i] < 0) + 0  # Face of box1
+    if c2 < separation:
+      separation = c2
+      axis_code = i + 3 * wp.int32(pos12[i] < 0) + 6  # Face of box2
+
+  clnorm = wp.vec3(0.0)
+  inv = wp.bool(False)
+  cle1 = wp.int32(0)
+  cle2 = wp.int32(0)
+
+  # Second test: consider cross products of boxes' edges
+  for i in range(3):
+    for j in range(3):
+      # Compute cross product of box edges (potential separating axis)
+      if i == 0:
+        cross_axis = wp.vec3(0.0, -rot12[j, 2], rot12[j, 1])
+      elif i == 1:
+        cross_axis = wp.vec3(rot12[j, 2], 0.0, -rot12[j, 0])
+      else:
+        cross_axis = wp.vec3(-rot12[j, 1], rot12[j, 0], 0.0)
+
+      cross_length = wp.length(cross_axis)
+      if cross_length < MJ_MINVAL:
+        continue
+
+      cross_axis /= cross_length
+
+      box_dist = wp.dot(pos21, cross_axis)
+      c3 = wp.float32(0.0)
+
+      # Project box half-sizes onto the potential separating axis
+      for k in range(3):
+        if k != i:
+          c3 += box1_size[k] * wp.abs(cross_axis[k])
+        if k != j:
+          c3 += box2_size[k] * rot21abs[i, 3 - k - j] / cross_length
+
+      c3 -= wp.abs(box_dist)
+
+      # Early exit: no collision if separated along this axis
+      if c3 < 0.0:
+        return contact_dist, contact_pos, contact_normals
+
+      # Track minimum separation and which edge-edge pair it occurs on
+      if c3 < separation * (1.0 - 1e-12):
+        separation = c3
+        # Determine which corners/edges are closest
+        cle1 = 0
+        cle2 = 0
+
+        for k in range(3):
+          if k != i and (int(cross_axis[k] > 0) ^ int(box_dist < 0)):
+            cle1 += 1 << k
+          if k != j:
+            if int(rot21[i, 3 - k - j] > 0) ^ int(box_dist < 0) ^ int((k - j + 3) % 3 == 1):
+              cle2 += 1 << k
+
+        axis_code = 12 + i * 3 + j
+        clnorm = cross_axis
+        inv = box_dist < 0
+
+  # No axis with separation < margin found
+  if axis_code == -1:
+    return contact_dist, contact_pos, contact_normals
+
+  points = mat83f()
+  depth = vec8f()
+  max_con_pair = 8
+  # 8 contacts should suffice for most configurations
+
+  if axis_code < 12:
+    # Handle face-vertex collision
+    face_idx = axis_code % 6
+    box_idx = axis_code // 6
+    rotmore = _compute_rotmore(face_idx)
+
+    r = rotmore @ wp.where(box_idx, rot12, rot21)
+    p = rotmore @ wp.where(box_idx, pos12, pos21)
+    ss = wp.abs(rotmore @ wp.where(box_idx, box2_size, box1_size))
+    s = wp.where(box_idx, box1_size, box2_size)
+    rt = wp.transpose(r)
+
+    lx, ly, hz = ss[0], ss[1], ss[2]
+    p[2] -= hz
+
+    clcorner = wp.int32(0)  # corner of non-face box with least axis separation
+
+    for i in range(3):
+      if r[2, i] < 0:
+        clcorner += 1 << i
+
+    lp = p
+    for i in range(wp.static(3)):
+      lp += rt[i] * s[i] * wp.where(clcorner & 1 << i, 1.0, -1.0)
+
+    m = wp.int32(1)
+    dirs = wp.int32(0)
+
+    cn1 = wp.vec3(0.0)
+    cn2 = wp.vec3(0.0)
+
+    for i in range(3):
+      if wp.abs(r[2, i]) < 0.5:
+        if not dirs:
+          cn1 = rt[i] * s[i] * wp.where(clcorner & (1 << i), -2.0, 2.0)
+        else:
+          cn2 = rt[i] * s[i] * wp.where(clcorner & (1 << i), -2.0, 2.0)
+
+        dirs += 1
+
+    k = dirs * dirs
+
+    # Find potential contact points
+
+    n = wp.int32(0)
+
+    for i in range(k):
+      for q in range(2):
+        # lines_a and lines_b (lines between corners) computed on the fly
+        lav = lp + wp.where(i < 2, wp.vec3(0.0), wp.where(i == 2, cn1, cn2))
+        lbv = wp.where(i == 0 or i == 3, cn1, cn2)
+
+        if wp.abs(lbv[q]) > MJ_MINVAL:
+          br = 1.0 / lbv[q]
+          for j in range(-1, 2, 2):
+            l = ss[q] * wp.float32(j)
+            c1 = (l - lav[q]) * br
+            if c1 < 0 or c1 > 1:
+              continue
+            c2 = lav[1 - q] + lbv[1 - q] * c1
+            if wp.abs(c2) > ss[1 - q]:
+              continue
+
+            points[n] = lav + c1 * lbv
+            n += 1
+
+    if dirs == 2:
+      ax = cn1[0]
+      bx = cn2[0]
+      ay = cn1[1]
+      by = cn2[1]
+      C = safe_div(1.0, ax * by - bx * ay)
+
+      for i in range(4):
+        llx = wp.where(i // 2, lx, -lx)
+        lly = wp.where(i % 2, ly, -ly)
+
+        x = llx - lp[0]
+        y = lly - lp[1]
+
+        u = (x * by - y * bx) * C
+        v = (y * ax - x * ay) * C
+
+        if u > 0 and v > 0 and u < 1 and v < 1:
+          points[n] = wp.vec3(llx, lly, lp[2] + u * cn1[2] + v * cn2[2])
+          n += 1
+
+    for i in range(1 << dirs):
+      tmpv = lp + wp.float32(i & 1) * cn1 + wp.float32((i & 2) != 0) * cn2
+      if tmpv[0] > -lx and tmpv[0] < lx and tmpv[1] > -ly and tmpv[1] < ly:
+        points[n] = tmpv
+        n += 1
+
+    m = n
+    n = wp.int32(0)
+
+    for i in range(m):
+      if points[i][2] > 0.0:
+        continue
+      if i != n:
+        points[n] = points[i]
+
+      points[n, 2] *= 0.5
+      depth[n] = points[n, 2]
+      n += 1
+
+    # Set up contact frame
+    rw = wp.where(box_idx, box2_rot, box1_rot) @ wp.transpose(rotmore)
+    pw = wp.where(box_idx, box2_pos, box1_pos)
+    normal = wp.where(box_idx, -1.0, 1.0) * wp.transpose(rw)[2]
+
+  else:
+    # Handle edge-edge collision
+    edge1 = (axis_code - 12) // 3
+    edge2 = (axis_code - 12) % 3
+
+    # Set up non-contacting edges ax1, ax2 for box2 and pax1, pax2 for box 1
+    ax1 = wp.int(1 - (edge2 & 1))
+    ax2 = wp.int(2 - (edge2 & 2))
+
+    pax1 = wp.int(1 - (edge1 & 1))
+    pax2 = wp.int(2 - (edge1 & 2))
+
+    if rot21abs[edge1, ax1] < rot21abs[edge1, ax2]:
+      ax1, ax2 = ax2, ax1
+
+    if rot12abs[edge2, pax1] < rot12abs[edge2, pax2]:
+      pax1, pax2 = pax2, pax1
+
+    rotmore = _compute_rotmore(wp.where(cle1 & (1 << pax2), pax2, pax2 + 3))
+
+    # Transform coordinates for edge-edge contact calculation
+    p = rotmore @ pos21
+    rnorm = rotmore @ clnorm
+    r = rotmore @ rot21
+    rt = wp.transpose(r)
+    s = wp.abs(wp.transpose(rotmore) @ box1_size)
+
+    lx, ly, hz = s[0], s[1], s[2]
+    p[2] -= hz
+
+    # Calculate closest box2 face
+
+    points[0] = (
+      p
+      + rt[ax1] * box2_size[ax1] * wp.where(cle2 & (1 << ax1), 1.0, -1.0)
+      + rt[ax2] * box2_size[ax2] * wp.where(cle2 & (1 << ax2), 1.0, -1.0)
+    )
+    points[1] = points[0] - rt[edge2] * box2_size[edge2]
+    points[0] += rt[edge2] * box2_size[edge2]
+
+    points[2] = (
+      p
+      + rt[ax1] * box2_size[ax1] * wp.where(cle2 & (1 << ax1), -1.0, 1.0)
+      + rt[ax2] * box2_size[ax2] * wp.where(cle2 & (1 << ax2), 1.0, -1.0)
+    )
+
+    points[3] = points[2] - rt[edge2] * box2_size[edge2]
+    points[2] += rt[edge2] * box2_size[edge2]
+
+    n = 4
+
+    # Set up coordinate axes for contact face of box2
+    axi_lp = points[0]
+    axi_cn1 = points[1] - points[0]
+    axi_cn2 = points[2] - points[0]
+
+    # Check if contact normal is valid
+    if wp.abs(rnorm[2]) < MJ_MINVAL:
+      return contact_dist, contact_pos, contact_normals  # Shouldn't happen
+
+    # Calculate inverse normal for projection
+    innorm = wp.where(inv, -1.0, 1.0) / rnorm[2]
+
+    pu = mat43f()
+
+    # Project points onto contact plane
+    for i in range(4):
+      pu[i] = points[i]
+      c_scl = points[i, 2] * wp.where(inv, -1.0, 1.0) * innorm
+      points[i] -= rnorm * c_scl
+
+    pts_lp = points[0]
+    pts_cn1 = points[1] - points[0]
+    pts_cn2 = points[2] - points[0]
+
+    n = wp.int32(0)
+
+    for i in range(4):
+      for q in range(2):
+        la = pts_lp[q] + wp.where(i < 2, 0.0, wp.where(i == 2, pts_cn1[q], pts_cn2[q]))
+        lb = wp.where(i == 0 or i == 3, pts_cn1[q], pts_cn2[q])
+        lc = pts_lp[1 - q] + wp.where(i < 2, 0.0, wp.where(i == 2, pts_cn1[1 - q], pts_cn2[1 - q]))
+        ld = wp.where(i == 0 or i == 3, pts_cn1[1 - q], pts_cn2[1 - q])
+
+        # linesu_a and linesu_b (lines between corners) computed on the fly
+        lua = axi_lp + wp.where(i < 2, wp.vec3(0.0), wp.where(i == 2, axi_cn1, axi_cn2))
+        lub = wp.where(i == 0 or i == 3, axi_cn1, axi_cn2)
+
+        if wp.abs(lb) > MJ_MINVAL:
+          br = 1.0 / lb
+          for j in range(-1, 2, 2):
+            if n == max_con_pair:
+              break
+            l = s[q] * wp.float32(j)
+            c1 = (l - la) * br
+            if c1 < 0 or c1 > 1:
+              continue
+            c2 = lc + ld * c1
+            if wp.abs(c2) > s[1 - q]:
+              continue
+            if (lua[2] + lub[2] * c1) * innorm > 0.0:
+              continue
+
+            points[n] = lua * 0.5 + c1 * lub * 0.5
+            points[n, q] += 0.5 * l
+            points[n, 1 - q] += 0.5 * c2
+            depth[n] = points[n, 2] * innorm * 2.0
+            n += 1
+
+    nl = n
+
+    ax = pts_cn1[0]
+    bx = pts_cn2[0]
+    ay = pts_cn1[1]
+    by = pts_cn2[1]
+    C = safe_div(1.0, ax * by - bx * ay)
+
+    for i in range(4):
+      if n == max_con_pair:
+        break
+      llx = wp.where(i // 2, lx, -lx)
+      lly = wp.where(i % 2, ly, -ly)
+
+      x = llx - pts_lp[0]
+      y = lly - pts_lp[1]
+
+      u = (x * by - y * bx) * C
+      v = (y * ax - x * ay) * C
+
+      if nl == 0:
+        if (u < 0 or u > 1) and (v < 0 or v > 1):
+          continue
+      elif u < 0 or v < 0 or u > 1 or v > 1:
+        continue
+
+      u = wp.clamp(u, 0.0, 1.0)
+      v = wp.clamp(v, 0.0, 1.0)
+      w = 1.0 - u - v
+      vtmp = pu[0] * w + pu[1] * u + pu[2] * v
+
+      points[n] = wp.vec3(llx, lly, 0.0)
+
+      vtmp2 = points[n] - vtmp
+      tc1 = wp.length_sq(vtmp2)
+      if vtmp[2] > 0 and tc1 > 0.0:
+        continue
+
+      points[n] = 0.5 * (points[n] + vtmp)
+
+      depth[n] = wp.sqrt(tc1) * wp.where(vtmp[2] < 0, -1.0, 1.0)
+      n += 1
+
+    nf = n
+
+    for i in range(4):
+      if n >= max_con_pair:
+        break
+      x = pu[i, 0]
+      y = pu[i, 1]
+      if nl == 0 and nf != 0:
+        if (x < -lx or x > lx) and (y < -ly or y > ly):
+          continue
+      elif x < -lx or x > lx or y < -ly or y > ly:
+        continue
+
+      c1 = wp.float32(0)
+
+      for j in range(2):
+        if pu[i, j] < -s[j]:
+          c1 += (pu[i, j] + s[j]) * (pu[i, j] + s[j])
+        elif pu[i, j] > s[j]:
+          c1 += (pu[i, j] - s[j]) * (pu[i, j] - s[j])
+
+      c1 += pu[i, 2] * innorm * pu[i, 2] * innorm
+
+      if pu[i, 2] > 0 and c1 > 0.0:
+        continue
+
+      tmp_p = wp.vec3(pu[i, 0], pu[i, 1], 0.0)
+
+      for j in range(2):
+        if pu[i, j] < -s[j]:
+          tmp_p[j] = -s[j] * 0.5
+        elif pu[i, j] > s[j]:
+          tmp_p[j] = +s[j] * 0.5
+
+      tmp_p += pu[i]
+      points[n] = tmp_p * 0.5
+
+      depth[n] = wp.sqrt(c1) * wp.where(pu[i, 2] < 0, -1.0, 1.0)
+      n += 1
+
+    # Set up contact data for all points
+    rw = box1_rot @ wp.transpose(rotmore)
+    pw = box1_pos
+    normal = wp.where(inv, -1.0, 1.0) * rw @ rnorm
+
+  contact_count = n
+
+  # Copy contact data to output matrices
+  for i in range(contact_count):
+    points[i, 2] += hz
+    pos = rw @ points[i] + pw
+    contact_dist[i] = depth[i]
+    contact_pos[i] = pos
+    contact_normals[i] = normal
+
+  return contact_dist, contact_pos, contact_normals
+
+
+@wp.func
+def sphere_box(
+  # In:
+  sphere_pos: wp.vec3,
+  sphere_radius: float,
+  box_pos: wp.vec3,
+  box_rot: wp.mat33,
+  box_size: wp.vec3,
+) -> Tuple[float, wp.vec3, wp.vec3]:
+  """Core contact geometry calculation for sphere-box collision.
+
+  Args:
+    sphere_pos: Center position of the sphere
+    sphere_radius: Radius of the sphere
+    box_pos: Center position of the box
+    box_rot: Rotation matrix of the box
+    box_size: Half-extents of the box along each axis
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances
+      contact_pos: contact positions
+      contact_normal: contact normal vectors
+  """
+
+  center = wp.transpose(box_rot) @ (sphere_pos - box_pos)
+
+  clamped = wp.max(-box_size, wp.min(box_size, center))
+  clamped_dir, dist = normalize_with_norm(clamped - center)
+
+  # sphere center inside box
+  if dist <= MJ_MINVAL:
+    closest = 2.0 * (box_size[0] + box_size[1] + box_size[2])
+    k = wp.int32(0)
+    for i in range(6):
+      face_dist = wp.abs(wp.where(i % 2, 1.0, -1.0) * box_size[i // 2] - center[i // 2])
+      if closest > face_dist:
+        closest = face_dist
+        k = i
+
+    nearest = wp.vec3(0.0)
+    nearest[k // 2] = wp.where(k % 2, -1.0, 1.0)
+    pos = center + nearest * (sphere_radius - closest) / 2.0
+    contact_normal = box_rot @ nearest
+    contact_distance = -closest - sphere_radius
+
+  else:
+    deepest = center + clamped_dir * sphere_radius
+    pos = 0.5 * (clamped + deepest)
+    contact_normal = box_rot @ clamped_dir
+    contact_distance = dist - sphere_radius
+
+  contact_position = box_pos + box_rot @ pos
+
+  return contact_distance, contact_position, contact_normal
+
+
+@wp.func
+def capsule_box(
+  # In:
+  capsule_pos: wp.vec3,
+  capsule_axis: wp.vec3,
+  capsule_radius: float,
+  capsule_half_length: float,
+  box_pos: wp.vec3,
+  box_rot: wp.mat33,
+  box_size: wp.vec3,
+) -> Tuple[wp.vec2, mat23f, mat23f]:
+  """Core contact geometry calculation for capsule-box collision.
+
+  Args:
+    capsule_pos: Center position of the capsule
+    capsule_axis: Axis direction of the capsule
+    capsule_radius: Radius of the capsule
+    capsule_half_length: Half length of the capsule
+    box_pos: Center position of the box
+    box_rot: Rotation matrix of the box
+    box_size: Half-extents of the box along each axis
+
+  Returns:
+    Tuple containing:
+      contact_dist: Vector of contact distances (wp.inf for unpopulated contacts)
+      contact_pos: Matrix of contact positions (one per row)
+      contact_normals: Matrix of contact normal vectors (one per row)
+  """
+
+  # Based on the mjc implementation
+  boxmatT = wp.transpose(box_rot)
+  pos = boxmatT @ (capsule_pos - box_pos)
+  axis = boxmatT @ capsule_axis
+  halfaxis = axis * capsule_half_length  # halfaxis is the capsule direction
+  axisdir = wp.int32(halfaxis[0] > 0.0) + 2 * wp.int32(halfaxis[1] > 0.0) + 4 * wp.int32(halfaxis[2] > 0.0)
+
+  bestdistmax = 2.0 * (capsule_radius + capsule_half_length + box_size[0] + box_size[1] + box_size[2])
+
+  # keep track of closest point
+  bestdist = wp.float32(bestdistmax)
+  bestsegmentpos = wp.float32(-12)
+
+  # cltype: encoded collision configuration
+  # cltype / 3 == 0 : lower corner is closest to the capsule
+  #            == 2 : upper corner is closest to the capsule
+  #            == 1 : middle of the edge is closest to the capsule
+  # cltype % 3 == 0 : lower corner is closest to the box
+  #            == 2 : upper corner is closest to the box
+  #            == 1 : middle of the capsule is closest to the box
+  cltype = wp.int32(-4)
+
+  # clface: index of the closest face of the box to the capsule
+  # -1: no face is closest (edge or corner is closest)
+  # 0, 1, 2: index of the axis perpendicular to the closest face
+  clface = wp.int32(-12)
+
+  # first: consider cases where a face of the box is closest
+  for i in range(-1, 2, 2):
+    axisTip = pos + wp.float32(i) * halfaxis
+    boxPoint = wp.vec3(axisTip)
+
+    n_out = wp.int32(0)
+    ax_out = wp.int32(-1)
+
+    for j in range(3):
+      if boxPoint[j] < -box_size[j]:
+        n_out += 1
+        ax_out = j
+        boxPoint[j] = -box_size[j]
+      elif boxPoint[j] > box_size[j]:
+        n_out += 1
+        ax_out = j
+        boxPoint[j] = box_size[j]
+
+    if n_out > 1:
+      continue
+
+    dist = wp.length_sq(boxPoint - axisTip)
+
+    if dist < bestdist:
+      bestdist = dist
+      bestsegmentpos = wp.float32(i)
+      cltype = -2 + i
+      clface = ax_out
+
+  # second: consider cases where an edge of the box is closest
+  clcorner = wp.int32(-123)  # which corner is the closest
+  cledge = wp.int32(-123)  # which axis
+  bestboxpos = wp.float32(0.0)
+
+  for i in range(8):
+    for j in range(3):
+      if i & (1 << j) != 0:
+        continue
+
+      c2 = wp.int32(-123)
+
+      # box_pt is the starting point (corner) on the box
+      box_pt = wp.cw_mul(
+        wp.vec3(
+          wp.where(i & 1, 1.0, -1.0),
+          wp.where(i & 2, 1.0, -1.0),
+          wp.where(i & 4, 1.0, -1.0),
+        ),
+        box_size,
+      )
+      box_pt[j] = 0.0
+
+      # find closest point between capsule and the edge
+      dif = box_pt - pos
+
+      u = -box_size[j] * dif[j]
+      v = wp.dot(halfaxis, dif)
+      ma = box_size[j] * box_size[j]
+      mb = -box_size[j] * halfaxis[j]
+      mc = capsule_half_length * capsule_half_length
+      det = ma * mc - mb * mb
+      if wp.abs(det) < MJ_MINVAL:
+        continue
+
+      idet = 1.0 / det
+      # sX : X=1 means middle of segment. X=0 or 2 one or the other end
+
+      x1 = wp.float32((mc * u - mb * v) * idet)
+      x2 = wp.float32((ma * v - mb * u) * idet)
+
+      s1 = wp.int32(1)
+      s2 = wp.int32(1)
+
+      if x1 > 1:
+        x1 = 1.0
+        s1 = 2
+        x2 = safe_div(v - mb, mc)
+      elif x1 < -1:
+        x1 = -1.0
+        s1 = 0
+        x2 = safe_div(v + mb, mc)
+
+      x2_over = x2 > 1.0
+      if x2_over or x2 < -1.0:
+        if x2_over:
+          x2 = 1.0
+          s2 = 2
+          x1 = safe_div(u - mb, ma)
+        else:
+          x2 = -1.0
+          s2 = 0
+          x1 = safe_div(u + mb, ma)
+
+        if x1 > 1:
+          x1 = 1.0
+          s1 = 2
+        elif x1 < -1:
+          x1 = -1.0
+          s1 = 0
+
+      dif -= halfaxis * x2
+      dif[j] += box_size[j] * x1
+
+      # encode relative positions of the closest points
+      ct = s1 * 3 + s2
+
+      dif_sq = wp.length_sq(dif)
+      if dif_sq < bestdist - MJ_MINVAL:
+        bestdist = dif_sq
+        bestsegmentpos = x2
+        bestboxpos = x1
+        # ct<6 means closest point on box is at lower end or middle of edge
+        c2 = ct // 6
+
+        clcorner = i + (1 << j) * c2  # index of closest box corner
+        cledge = j  # axis index of closest box edge
+        cltype = ct  # encoded collision configuration
+
+  best = wp.float32(0.0)
+
+  p = wp.vec2(pos.x, pos.y)
+  dd = wp.vec2(halfaxis.x, halfaxis.y)
+  s = wp.vec2(box_size.x, box_size.y)
+  secondpos = wp.float32(-4.0)
+
+  uu = dd.x * s.y
+  vv = dd.y * s.x
+  w_neg = dd.x * p.y - dd.y * p.x < 0
+
+  best = wp.float32(-1.0)
+
+  ee1 = uu - vv
+  ee2 = uu + vv
+
+  if wp.abs(ee1) > best:
+    best = wp.abs(ee1)
+    c1 = wp.where((ee1 < 0) == w_neg, 0, 3)
+
+  if wp.abs(ee2) > best:
+    best = wp.abs(ee2)
+    c1 = wp.where((ee2 > 0) == w_neg, 1, 2)
+
+  if cltype == -4:  # invalid type
+    return wp.vec2(wp.inf), mat23f(), mat23f()
+
+  if cltype >= 0 and cltype // 3 != 1:  # closest to a corner of the box
+    c1 = axisdir ^ clcorner
+    # Calculate relative orientation between capsule and corner
+    # There are two possible configurations:
+    # 1. Capsule axis points toward/away from corner
+    # 2. Capsule axis aligns with a face or edge
+    if c1 != 0 and c1 != 7:  # create second contact point
+      if c1 == 1 or c1 == 2 or c1 == 4:
+        mul = 1
+      else:
+        mul = -1
+        c1 = 7 - c1
+
+      # "de" and "dp" distance from first closest point on the capsule to both ends of it
+      # mul is a direction along the capsule's axis
+
+      if c1 == 1:
+        ax = 0
+        ax1 = 1
+        ax2 = 2
+      elif c1 == 2:
+        ax = 1
+        ax1 = 2
+        ax2 = 0
+      elif c1 == 4:
+        ax = 2
+        ax1 = 0
+        ax2 = 1
+
+      if axis[ax] * axis[ax] > 0.5:  # second point along the edge of the box
+        m = 2.0 * safe_div(box_size[ax], wp.abs(halfaxis[ax]))
+        secondpos = min(1.0 - wp.float32(mul) * bestsegmentpos, m)
+      else:  # second point along a face of the box
+        # check for overshoot again
+        m = 2.0 * min(
+          safe_div(box_size[ax1], wp.abs(halfaxis[ax1])),
+          safe_div(box_size[ax2], wp.abs(halfaxis[ax2])),
+        )
+        secondpos = -min(1.0 + wp.float32(mul) * bestsegmentpos, m)
+      secondpos *= wp.float32(mul)
+
+  elif cltype >= 0 and cltype // 3 == 1:  # we are on box's edge
+    # Calculate relative orientation between capsule and edge
+    # Two possible configurations:
+    # - T configuration: c1 = 2^n (no additional contacts)
+    # - X configuration: c1 != 2^n (potential additional contacts)
+    c1 = axisdir ^ clcorner
+    c1 &= 7 - (1 << cledge)  # mask out edge axis to determine configuration
+
+    if c1 == 1 or c1 == 2 or c1 == 4:  # create second contact point
+      if cledge == 0:
+        ax1 = 1
+        ax2 = 2
+      if cledge == 1:
+        ax1 = 2
+        ax2 = 0
+      if cledge == 2:
+        ax1 = 0
+        ax2 = 1
+      ax = cledge
+
+      # find which face the capsule has a lower angle, and switch the axis
+      if wp.abs(axis[ax1]) > wp.abs(axis[ax2]):
+        ax1 = ax2
+      ax2 = 3 - ax - ax1
+
+      # mul determines direction along capsule axis for second contact point
+      if c1 & (1 << ax2):
+        mul = 1
+        secondpos = 1.0 - bestsegmentpos
+      else:
+        mul = -1
+        secondpos = 1.0 + bestsegmentpos
+
+      # now find out whether we point towards the opposite side or towards one of the sides
+      # and also find the farthest point along the capsule that is above the box
+
+      e1 = 2.0 * safe_div(box_size[ax2], wp.abs(halfaxis[ax2]))
+      secondpos = min(e1, secondpos)
+
+      if ((axisdir & (1 << ax)) != 0) == ((c1 & (1 << ax2)) != 0):
+        e2 = 1.0 - bestboxpos
+      else:
+        e2 = 1.0 + bestboxpos
+
+      e1 = box_size[ax] * safe_div(e2, wp.abs(halfaxis[ax]))
+
+      secondpos = min(e1, secondpos)
+      secondpos *= wp.float32(mul)
+
+  elif cltype < 0:
+    # similarly we handle the case when one capsule's end is closest to a face of the box
+    # and find where is the other end pointing to and clamping to the farthest point
+    # of the capsule that's above the box
+    # if the closest point is inside the box there's no need for a second point
+
+    if clface != -1:  # create second contact point
+      mul = wp.where(cltype == -3, 1, -1)
+      secondpos = 2.0
+
+      tmp1 = pos - halfaxis * wp.float32(mul)
+
+      for i in range(3):
+        if i != clface:
+          ha_r = safe_div(wp.float32(mul), halfaxis[i])
+          e1 = (box_size[i] - tmp1[i]) * ha_r
+          if 0 < e1 and e1 < secondpos:
+            secondpos = e1
+
+          e1 = (-box_size[i] - tmp1[i]) * ha_r
+          if 0 < e1 and e1 < secondpos:
+            secondpos = e1
+
+      secondpos *= wp.float32(mul)
+
+  # create sphere in original orientation at first contact point
+  s1_pos_l = pos + halfaxis * bestsegmentpos
+  s1_pos_g = box_rot @ s1_pos_l + box_pos
+
+  # collide with sphere using core function
+  dist1, pos1, normal1 = sphere_box(s1_pos_g, capsule_radius, box_pos, box_rot, box_size)
+
+  if secondpos > -3:  # secondpos was modified
+    s2_pos_l = pos + halfaxis * (secondpos + bestsegmentpos)
+    s2_pos_g = box_rot @ s2_pos_l + box_pos
+
+    # collide with sphere using core function
+    dist2, pos2, normal2 = sphere_box(s2_pos_g, capsule_radius, box_pos, box_rot, box_size)
+  else:
+    dist2 = wp.inf
+    pos2 = wp.vec3()
+    normal2 = wp.vec3()
+
+  return (
+    wp.vec2(dist1, dist2),
+    mat23f(pos1[0], pos1[1], pos1[2], pos2[0], pos2[1], pos2[2]),
+    mat23f(normal1[0], normal1[1], normal1[2], normal2[0], normal2[1], normal2[2]),
+  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py
index d00ccdb1..c08e838d 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/collision_sdf.py
@@ -18,17 +18,22 @@ from typing import Tuple
 import warp as wp
 
 from mujoco.mjx.third_party.mujoco_warp._src import math
-from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import _geom
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import contact_params
+from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import geom
 from mujoco.mjx.third_party.mujoco_warp._src.collision_primitive import write_contact
 from mujoco.mjx.third_party.mujoco_warp._src.math import make_frame
+from mujoco.mjx.third_party.mujoco_warp._src.ray import ray_mesh
 from mujoco.mjx.third_party.mujoco_warp._src.types import Data
 from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
 from mujoco.mjx.third_party.mujoco_warp._src.types import Model
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
+from mujoco.mjx.third_party.mujoco_warp._src.types import vec8f
+from mujoco.mjx.third_party.mujoco_warp._src.types import vec8i
 from mujoco.mjx.third_party.mujoco_warp._src.util_misc import halton
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
 
+wp.set_module_options({"enable_backward": False})
+
 
 @wp.struct
 class OptimizationParams:
@@ -44,24 +49,79 @@ class AABB:
   max: wp.vec3
 
 
+@wp.struct
+class VolumeData:
+  center: wp.vec3
+  half_size: wp.vec3
+  oct_aabb: wp.array2d(dtype=wp.vec3)
+  oct_child: wp.array(dtype=vec8i)
+  oct_coeff: wp.array(dtype=vec8f)
+  valid: bool = False
+
+
+@wp.struct
+class MeshData:
+  nmeshface: int
+  mesh_vertadr: wp.array(dtype=int)
+  mesh_vert: wp.array(dtype=wp.vec3)
+  mesh_faceadr: wp.array(dtype=int)
+  mesh_face: wp.array(dtype=wp.vec3i)
+  data_id: int
+  data_id: int
+  pos: wp.vec3
+  mat: wp.mat33
+  pnt: wp.vec3
+  vec: wp.vec3
+  valid: bool = False
+
+
+@wp.func
+def get_sdf_params(
+  # Model:
+  oct_aabb: wp.array2d(dtype=wp.vec3),
+  oct_child: wp.array(dtype=vec8i),
+  oct_coeff: wp.array(dtype=vec8f),
+  plugin: wp.array(dtype=int),
+  plugin_attr: wp.array(dtype=wp.vec3f),
+  # In:
+  g_type: int,
+  g_size: wp.vec3,
+  plugin_id: int,
+  mesh_id: int,
+) -> Tuple[wp.vec3, int, VolumeData, MeshData]:
+  attributes = g_size
+  plugin_index = -1
+  volume_data = VolumeData()
+
+  if g_type == int(GeomType.SDF.value) and plugin_id != -1:
+    attributes = plugin_attr[plugin_id]
+    plugin_index = plugin[plugin_id]
+
+  elif g_type == int(GeomType.SDF.value) and mesh_id != -1:
+    volume_data.center = oct_aabb[mesh_id, 0]
+    volume_data.half_size = oct_aabb[mesh_id, 1]
+    volume_data.oct_aabb = oct_aabb
+    volume_data.oct_child = oct_child
+    volume_data.oct_coeff = oct_coeff
+    volume_data.valid = True
+
+  return attributes, plugin_index, volume_data, MeshData()
+
+
 @wp.func
 def transform_aabb(aabb_pos: wp.vec3, aabb_size: wp.vec3, pos: wp.vec3, ori: wp.mat33) -> AABB:
   aabb = AABB()
   aabb.max = wp.vec3(-1000000000.0, -1000000000.0, -1000000000.0)
   aabb.min = wp.vec3(1000000000.0, 1000000000.0, 1000000000.0)
-
   for i in range(8):
     vec = wp.vec3(
       aabb_size.x * (1.0 if (i & 1) else -1.0),
       aabb_size.y * (1.0 if (i & 2) else -1.0),
       aabb_size.z * (1.0 if (i & 4) else -1.0),
     )
-
     frame_vec = ori * (vec + aabb_pos) + pos
-
     aabb.min = wp.min(aabb.min, frame_vec)
     aabb.max = wp.max(aabb.max, frame_vec)
-
   return aabb
 
 
@@ -134,13 +194,11 @@ def grad_box(p: wp.vec3, size: wp.vec3) -> wp.vec3:
 @wp.func
 def grad_ellipsoid(p: wp.vec3, size: wp.vec3) -> wp.vec3:
   a = wp.vec3(p[0] / size[0], p[1] / size[1], p[2] / size[2])
-
   b = wp.vec3(a[0] / size[0], a[1] / size[1], a[2] / size[2])
   k0 = wp.length(a)
   k1 = wp.length(b)
   invK0 = 1.0 / k0
   invK1 = 1.0 / k1
-
   gk0 = b * invK0
   gk1 = wp.vec3(
     b[0] * invK1 / (size[0] * size[0]),
@@ -149,7 +207,6 @@ def grad_ellipsoid(p: wp.vec3, size: wp.vec3) -> wp.vec3:
   )
   df_dk0 = (2.0 * k0 - 1.0) * invK1
   df_dk1 = k0 * (k0 - 1.0) * invK1 * invK1
-
   raw_grad = gk0 * df_dk0 - gk1 * df_dk1
   return raw_grad / wp.length(raw_grad)
 
@@ -167,7 +224,127 @@ def user_sdf_grad(p: wp.vec3, attr: wp.vec3, sdf_type: int) -> wp.vec3:
 
 
 @wp.func
-def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int) -> float:
+def find_oct(
+  oct_aabb: wp.array2d(dtype=wp.vec3), oct_child: wp.array(dtype=vec8i), p: wp.vec3, grad: bool
+) -> Tuple[int, Tuple[vec8f, vec8f, vec8f]]:
+  stack = int(0)
+  niter = int(100)
+  rx = vec8f(0.0)
+  ry = vec8f(0.0)
+  rz = vec8f(0.0)
+
+  while niter > 0:
+    niter -= 1
+    node = stack
+
+    if node == -1:
+      wp.printf("ERROR: Invalid node number\n")
+      return -1, (rx, ry, rz)
+
+    vmin = oct_aabb[node, 0] - oct_aabb[node, 1]
+    vmax = oct_aabb[node, 0] + oct_aabb[node, 1]
+    coord = wp.cw_div(p - vmin, vmax - vmin)
+
+    # check if the node is a leaf
+    if (
+      oct_child[node][0] == -1
+      and oct_child[node][1] == -1
+      and oct_child[node][2] == -1
+      and oct_child[node][3] == -1
+      and oct_child[node][4] == -1
+      and oct_child[node][5] == -1
+      and oct_child[node][6] == -1
+      and oct_child[node][7] == -1
+    ):
+      for j in range(8):
+        if not grad:
+          rx[j] = (
+            (coord[0] if j & 1 else 1.0 - coord[0])
+            * (coord[1] if j & 2 else 1.0 - coord[1])
+            * (coord[2] if j & 4 else 1.0 - coord[2])
+          )
+        else:
+          rx[j] = (1.0 if j & 1 else -1.0) * (coord[1] if j & 2 else 1.0 - coord[1]) * (coord[2] if j & 4 else 1.0 - coord[2])
+          ry[j] = (coord[0] if j & 1 else 1.0 - coord[0]) * (1.0 if j & 2 else -1.0) * (coord[2] if j & 4 else 1.0 - coord[2])
+          rz[j] = (coord[0] if j & 1 else 1.0 - coord[0]) * (coord[1] if j & 2 else 1.0 - coord[1]) * (1.0 if j & 4 else -1.0)
+      return node, (rx, ry, rz)
+
+    # compute which of 8 children to visit next
+    x = 1 if coord[0] < 0.5 else 0
+    y = 1 if coord[1] < 0.5 else 0
+    z = 1 if coord[2] < 0.5 else 0
+    stack = oct_child[node][4 * z + 2 * y + x]
+
+  wp.print("ERROR: Node not found\n")
+  return -1, (rx, ry, rz)
+
+
+@wp.func
+def box_project(center: wp.vec3, half_size: wp.vec3, xyz: wp.vec3) -> Tuple[float, wp.vec3]:
+  r = xyz - center
+  q = wp.vec3(wp.abs(r[0]) - half_size[0], wp.abs(r[1]) - half_size[1], wp.abs(r[2]) - half_size[2])
+
+  if q[0] <= 0.0 and q[1] <= 0.0 and q[2] <= 0.0:
+    return 0.0, xyz
+
+  else:
+    dist_sqr = 0.0
+    eps = 1e-4
+    point = wp.vec3(xyz[0], xyz[1], xyz[2])
+
+    if q[0] >= 0.0:
+      dist_sqr += q[0] * q[0]
+      if r[0] > 0.0:
+        point = wp.vec3(point[0] - (q[0] + eps), point[1], point[2])
+      else:
+        point = wp.vec3(point[0] + (q[0] + eps), point[1], point[2])
+
+    if q[1] >= 0.0:
+      dist_sqr += q[1] * q[1]
+      if r[1] > 0.0:
+        point = wp.vec3(point[0], point[1] - (q[1] + eps), point[2])
+      else:
+        point = wp.vec3(point[0], point[1] + (q[1] + eps), point[2])
+
+    if q[2] >= 0.0:
+      dist_sqr += q[2] * q[2]
+      if r[2] > 0.0:
+        point = wp.vec3(point[0], point[1], point[2] - (q[2] + eps))
+      else:
+        point = wp.vec3(point[0], point[1], point[2] + (q[2] + eps))
+
+    return wp.sqrt(dist_sqr), point
+
+
+@wp.func
+def sample_volume_sdf(xyz: wp.vec3, volume_data: VolumeData) -> float:
+  dist0, point = box_project(volume_data.center, volume_data.half_size, xyz)
+  node, weights = find_oct(volume_data.oct_aabb, volume_data.oct_child, point, grad=False)
+  return dist0 + wp.dot(weights[0], volume_data.oct_coeff[node])
+
+
+@wp.func
+def sample_volume_grad(xyz: wp.vec3, volume_data: VolumeData) -> wp.vec3:
+  dist0, point = box_project(volume_data.center, volume_data.half_size, xyz)
+  if dist0 > 0:
+    h = 1e-4
+    dx = wp.vec3(h, 0.0, 0.0)
+    dy = wp.vec3(0.0, h, 0.0)
+    dz = wp.vec3(0.0, 0.0, h)
+    f = sample_volume_sdf(xyz, volume_data)
+    grad_x = (sample_volume_sdf(xyz + dx, volume_data) - f) / h
+    grad_y = (sample_volume_sdf(xyz + dy, volume_data) - f) / h
+    grad_z = (sample_volume_sdf(xyz + dz, volume_data) - f) / h
+    return wp.vec3(grad_x, grad_y, grad_z)
+  node, weights = find_oct(volume_data.oct_aabb, volume_data.oct_child, point, grad=True)
+  grad_x = wp.dot(weights[0], volume_data.oct_coeff[node])
+  grad_y = wp.dot(weights[1], volume_data.oct_coeff[node])
+  grad_z = wp.dot(weights[2], volume_data.oct_coeff[node])
+  return wp.vec3(grad_x, grad_y, grad_z)
+
+
+@wp.func
+def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: VolumeData, mesh_data: MeshData) -> float:
   if type == int(GeomType.PLANE.value):
     return p[2]
   elif type == int(GeomType.SPHERE.value):
@@ -176,14 +353,46 @@ def sdf(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int) -> float:
     return box(p, attr)
   elif type == int(GeomType.ELLIPSOID.value):
     return ellipsoid(p, attr)
+  elif type == int(GeomType.MESH.value) and mesh_data.valid:
+    mesh_data.pnt = p
+    mesh_data.vec = -wp.normalize(p)
+    dist = ray_mesh(
+      mesh_data.nmeshface,
+      mesh_data.mesh_vertadr,
+      mesh_data.mesh_vert,
+      mesh_data.mesh_faceadr,
+      mesh_data.mesh_face,
+      mesh_data.data_id,
+      mesh_data.pos,
+      mesh_data.mat,
+      mesh_data.pnt,
+      mesh_data.vec,
+    )
+    if dist > wp.norm_l2(p):
+      return -ray_mesh(
+        mesh_data.nmeshface,
+        mesh_data.mesh_vertadr,
+        mesh_data.mesh_vert,
+        mesh_data.mesh_faceadr,
+        mesh_data.mesh_face,
+        mesh_data.data_id,
+        mesh_data.pos,
+        mesh_data.mat,
+        mesh_data.pnt,
+        -mesh_data.vec,
+      )
+    return dist
   elif type == int(GeomType.SDF.value):
-    return user_sdf(p, attr, sdf_type)
+    if sdf_type == -1:
+      return sample_volume_sdf(p, volume_data)
+    else:
+      return user_sdf(p, attr, sdf_type)
   wp.printf("ERROR: SDF type not implemented\n")
   return 0.0
 
 
 @wp.func
-def sdf_grad(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int) -> wp.vec3:
+def sdf_grad(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int, volume_data: VolumeData, mesh_data: MeshData) -> wp.vec3:
   if type == int(GeomType.PLANE.value):
     grad = wp.vec3(0.0, 0.0, 1.0)
     return grad
@@ -193,18 +402,53 @@ def sdf_grad(type: int, p: wp.vec3, attr: wp.vec3, sdf_type: int) -> wp.vec3:
     return grad_box(p, attr)
   elif type == int(GeomType.ELLIPSOID.value):
     return grad_ellipsoid(p, attr)
+  elif type == int(GeomType.MESH.value) and mesh_data.valid:
+    mesh_data.pnt = p
+    mesh_data.vec = -wp.normalize(p)
+    dist = ray_mesh(
+      mesh_data.nmeshface,
+      mesh_data.mesh_vertadr,
+      mesh_data.mesh_vert,
+      mesh_data.mesh_faceadr,
+      mesh_data.mesh_face,
+      mesh_data.data_id,
+      mesh_data.pos,
+      mesh_data.mat,
+      mesh_data.pnt,
+      mesh_data.vec,
+    )
+    if dist > wp.norm_l2(p):
+      return wp.vec3(1.0)
+    else:
+      return wp.vec3(-1.0)
+
   elif type == int(GeomType.SDF.value):
-    return user_sdf_grad(p, attr, sdf_type)
+    if sdf_type == -1:
+      return sample_volume_grad(p, volume_data)
+    else:
+      return user_sdf_grad(p, attr, sdf_type)
   wp.printf("ERROR: SDF grad type not implemented\n")
   return wp.vec3(0.0)
 
 
 @wp.func
 def clearance(
-  type1: int, p1: wp.vec3, p2: wp.vec3, s1: wp.vec3, s2: wp.vec3, sdf_type1: int, sdf_type2: int, sfd_intersection: bool
+  # In:
+  type1: int,
+  p1: wp.vec3,
+  p2: wp.vec3,
+  s1: wp.vec3,
+  s2: wp.vec3,
+  sdf_type1: int,
+  sdf_type2: int,
+  sfd_intersection: bool,
+  volume_data1: VolumeData,
+  volume_data2: VolumeData,
+  mesh_data1: MeshData,
+  mesh_data2: MeshData,
 ) -> float:
-  sdf1 = sdf(type1, p1, s1, sdf_type1)
-  sdf2 = sdf(int(GeomType.SDF.value), p2, s2, sdf_type2)
+  sdf1 = sdf(type1, p1, s1, sdf_type1, volume_data1, mesh_data1)
+  sdf2 = sdf(int(GeomType.SDF.value), p2, s2, sdf_type2, volume_data2, mesh_data2)
   if sfd_intersection:
     return wp.max(sdf1, sdf2)
   else:
@@ -213,13 +457,24 @@ def clearance(
 
 @wp.func
 def compute_grad(
-  type1: int, p1: wp.vec3, p2: wp.vec3, params: OptimizationParams, sdf_type1: int, sdf_type2: int, sfd_intersection: bool
+  # In:
+  type1: int,
+  p1: wp.vec3,
+  p2: wp.vec3,
+  params: OptimizationParams,
+  sdf_type1: int,
+  sdf_type2: int,
+  sfd_intersection: bool,
+  volume_data1: VolumeData,
+  volume_data2: VolumeData,
+  mesh_data1: MeshData,
+  mesh_data2: MeshData,
 ) -> wp.vec3:
-  A = sdf(type1, p1, params.attr1, sdf_type1)
-  B = sdf(int(GeomType.SDF.value), p2, params.attr2, sdf_type2)
-  grad1 = sdf_grad(type1, p1, params.attr1, sdf_type1)
-  grad2 = sdf_grad(int(GeomType.SDF.value), p2, params.attr2, sdf_type2)
-  grad1_transformed = params.rel_mat * grad1
+  A = sdf(type1, p1, params.attr1, sdf_type1, volume_data1, mesh_data1)
+  B = sdf(int(GeomType.SDF.value), p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
+  grad1 = sdf_grad(type1, p1, params.attr1, sdf_type1, volume_data1, mesh_data1)
+  grad2 = sdf_grad(int(GeomType.SDF.value), p2, params.attr2, sdf_type2, volume_data2, mesh_data2)
+  grad1_transformed = wp.transpose(params.rel_mat) * grad1
   if sfd_intersection:
     if A > B:
       return grad1_transformed
@@ -239,33 +494,67 @@ def compute_grad(
 
 @wp.func
 def gradient_step(
-  type1: int, x: wp.vec3, params: OptimizationParams, sdf_type1: int, sdf_type2: int, niter: int, sfd_intersection: bool
+  # In:
+  type1: int,
+  x: wp.vec3,
+  params: OptimizationParams,
+  sdf_type1: int,
+  sdf_type2: int,
+  niter: int,
+  sfd_intersection: bool,
+  volume_data1: VolumeData,
+  volume_data2: VolumeData,
+  mesh_data1: MeshData,
+  mesh_data2: MeshData,
 ) -> Tuple[float, wp.vec3]:
   amin = 1e-4
   rho = 0.5
   c = 0.1
   dist = float(1e10)
-
-  for _ in range(niter):
+  for i in range(niter):
     alpha = float(2.0)
     x2 = wp.vec3(x[0], x[1], x[2])
     x1 = params.rel_mat * x2 + params.rel_pos
-    grad = compute_grad(type1, x1, x2, params, sdf_type1, sdf_type2, sfd_intersection)
-    dist0 = clearance(type1, x1, x, params.attr1, params.attr2, sdf_type1, sdf_type2, sfd_intersection)
+    grad = compute_grad(
+      type1, x1, x2, params, sdf_type1, sdf_type2, sfd_intersection, volume_data1, volume_data2, mesh_data1, mesh_data2
+    )
+    dist0 = clearance(
+      type1,
+      x1,
+      x,
+      params.attr1,
+      params.attr2,
+      sdf_type1,
+      sdf_type2,
+      sfd_intersection,
+      volume_data1,
+      volume_data2,
+      mesh_data1,
+      mesh_data2,
+    )
     grad_dot = wp.dot(grad, grad)
-
     if grad_dot < 1e-12:
       return dist0, x
-
     wolfe = -c * alpha * grad_dot
     while True:
       alpha *= rho
       wolfe *= rho
-
       x = x2 - grad * alpha
       x1 = params.rel_mat * x + params.rel_pos
-      dist = clearance(type1, x1, x, params.attr1, params.attr2, sdf_type1, sdf_type2, sfd_intersection)
-
+      dist = clearance(
+        type1,
+        x1,
+        x,
+        params.attr1,
+        params.attr2,
+        sdf_type1,
+        sdf_type2,
+        sfd_intersection,
+        volume_data1,
+        volume_data2,
+        mesh_data1,
+        mesh_data2,
+      )
       if alpha <= amin or (dist - dist0) <= wolfe:
         break
     if dist > dist0:
@@ -287,29 +576,26 @@ def gradient_descent(
   sdf_type1: int,
   sdf_type2: int,
   sdf_iterations: int,
+  volume_data1: VolumeData,
+  volume_data2: VolumeData,
+  mesh_data1: MeshData,
+  mesh_data2: MeshData,
 ) -> Tuple[float, wp.vec3, wp.vec3]:
   params = OptimizationParams()
   params.rel_mat = wp.transpose(rot1) * rot2
   params.rel_pos = wp.transpose(rot1) * (pos2 - pos1)
   params.attr1 = attr1
   params.attr2 = attr2
-
-  # Collision phase (10 iterations, sfd_intersection=False)
-  dist, x = gradient_step(type1, x0_initial, params, sdf_type1, sdf_type2, sdf_iterations, False)
-
-  # Intersection phase (1 iteration, sfd_intersection=True)
-  dist, x = gradient_step(type1, x, params, sdf_type1, sdf_type2, 1, True)
-
-  # Midsurface calculation
+  dist, x = gradient_step(
+    type1, x0_initial, params, sdf_type1, sdf_type2, sdf_iterations, False, volume_data1, volume_data2, mesh_data1, mesh_data2
+  )
+  dist, x = gradient_step(type1, x, params, sdf_type1, sdf_type2, 1, True, volume_data1, volume_data2, mesh_data1, mesh_data2)
   x_1 = params.rel_mat * x + params.rel_pos
-
-  grad1 = sdf_grad(type1, x_1, params.attr1, sdf_type1)
+  grad1 = sdf_grad(type1, x_1, params.attr1, sdf_type1, volume_data1, mesh_data1)
   grad1 = wp.transpose(params.rel_mat) * grad1
   grad1 = wp.normalize(grad1)
-
-  grad2 = sdf_grad(int(GeomType.SDF.value), x, params.attr2, sdf_type2)
+  grad2 = sdf_grad(int(GeomType.SDF.value), x, params.attr2, sdf_type2, volume_data2, mesh_data2)
   grad2 = wp.normalize(grad2)
-
   n = grad1 - grad2
   n = wp.normalize(n)
   pos = rot2 * x + pos2
@@ -321,6 +607,7 @@ def gradient_descent(
 @wp.kernel
 def _sdf_narrowphase(
   # Model:
+  nmeshface: int,
   geom_type: wp.array(dtype=int),
   geom_condim: wp.array(dtype=int),
   geom_dataid: wp.array(dtype=int),
@@ -330,8 +617,6 @@ def _sdf_narrowphase(
   geom_solimp: wp.array2d(dtype=vec5),
   geom_size: wp.array2d(dtype=wp.vec3),
   geom_aabb: wp.array2d(dtype=wp.vec3),
-  geom_pos: wp.array2d(dtype=wp.vec3),
-  geom_quat: wp.array2d(dtype=wp.quat),
   geom_friction: wp.array2d(dtype=wp.vec3),
   geom_margin: wp.array2d(dtype=float),
   geom_gap: wp.array2d(dtype=float),
@@ -343,6 +628,8 @@ def _sdf_narrowphase(
   mesh_vertadr: wp.array(dtype=int),
   mesh_vertnum: wp.array(dtype=int),
   mesh_vert: wp.array(dtype=wp.vec3),
+  mesh_faceadr: wp.array(dtype=int),
+  mesh_face: wp.array(dtype=wp.vec3i),
   mesh_graphadr: wp.array(dtype=int),
   mesh_graph: wp.array(dtype=int),
   mesh_polynum: wp.array(dtype=int),
@@ -354,6 +641,9 @@ def _sdf_narrowphase(
   mesh_polymapadr: wp.array(dtype=int),
   mesh_polymapnum: wp.array(dtype=int),
   mesh_polymap: wp.array(dtype=int),
+  oct_aabb: wp.array2d(dtype=wp.vec3),
+  oct_child: wp.array(dtype=vec8i),
+  oct_coeff: wp.array(dtype=vec8f),
   pair_dim: wp.array(dtype=int),
   pair_solref: wp.array2d(dtype=wp.vec2),
   pair_solreffriction: wp.array2d(dtype=wp.vec2),
@@ -370,7 +660,6 @@ def _sdf_narrowphase(
   geom_xpos_in: wp.array2d(dtype=wp.vec3),
   geom_xmat_in: wp.array2d(dtype=wp.mat33),
   collision_pair_in: wp.array(dtype=wp.vec2i),
-  collision_hftri_index_in: wp.array(dtype=int),
   collision_pairid_in: wp.array(dtype=int),
   collision_worldid_in: wp.array(dtype=int),
   ncollision_in: wp.array(dtype=int),
@@ -391,20 +680,17 @@ def _sdf_narrowphase(
   contact_geom_out: wp.array(dtype=wp.vec2i),
   contact_worldid_out: wp.array(dtype=int),
 ):
-  tid = wp.tid()
-
-  if tid >= ncollision_in[0]:
+  i, contact_tid = wp.tid()
+  if i >= sdf_initpoints:
     return
-
-  geoms = collision_pair_in[tid]
-
+  if contact_tid >= ncollision_in[0]:
+    return
+  geoms = collision_pair_in[contact_tid]
   g2 = geoms[1]
   type2 = geom_type[g2]
   if type2 != int(GeomType.SDF.value):
     return
-
-  worldid = collision_worldid_in[tid]
-
+  worldid = collision_worldid_in[contact_tid]
   _, margin, gap, condim, friction, solref, solreffriction, solimp = contact_params(
     geom_condim,
     geom_priority,
@@ -423,79 +709,62 @@ def _sdf_narrowphase(
     pair_friction,
     collision_pair_in,
     collision_pairid_in,
-    tid,
+    contact_tid,
     worldid,
   )
   g1 = geoms[0]
-
-  hftri_index = collision_hftri_index_in[tid]
-
-  geom1 = _geom(
-    geom_type,
-    geom_dataid,
-    geom_size,
-    hfield_adr,
-    hfield_nrow,
-    hfield_ncol,
-    hfield_size,
-    hfield_data,
-    mesh_vertadr,
-    mesh_vertnum,
-    mesh_vert,
-    mesh_graphadr,
-    mesh_graph,
-    mesh_polynum,
-    mesh_polyadr,
-    mesh_polynormal,
-    mesh_polyvertadr,
-    mesh_polyvertnum,
-    mesh_polyvert,
-    mesh_polymapadr,
-    mesh_polymapnum,
-    mesh_polymap,
-    geom_xpos_in,
-    geom_xmat_in,
-    worldid,
-    g1,
-    hftri_index,
-  )
-  geom2 = _geom(
-    geom_type,
-    geom_dataid,
-    geom_size,
-    hfield_adr,
-    hfield_nrow,
-    hfield_ncol,
-    hfield_size,
-    hfield_data,
-    mesh_vertadr,
-    mesh_vertnum,
-    mesh_vert,
-    mesh_graphadr,
-    mesh_graph,
-    mesh_polynum,
-    mesh_polyadr,
-    mesh_polynormal,
-    mesh_polyvertadr,
-    mesh_polyvertnum,
-    mesh_polyvert,
-    mesh_polymapadr,
-    mesh_polymapnum,
-    mesh_polymap,
-    geom_xpos_in,
-    geom_xmat_in,
-    worldid,
-    g2,
-    hftri_index,
-  )
-
   type1 = geom_type[g1]
+
+  geom1_dataid = geom_dataid[g1]
+  geom1 = geom(
+    type1,
+    geom1_dataid,
+    geom_size[worldid, g1],
+    mesh_vertadr[geom1_dataid],
+    mesh_vertnum[geom1_dataid],
+    mesh_vert,
+    mesh_graphadr[geom1_dataid],
+    mesh_graph,
+    mesh_polynum[geom1_dataid],
+    mesh_polyadr[geom1_dataid],
+    mesh_polynormal,
+    mesh_polyvertadr,
+    mesh_polyvertnum,
+    mesh_polyvert,
+    mesh_polymapadr,
+    mesh_polymapnum,
+    mesh_polymap,
+    geom_xpos_in[worldid, g1],
+    geom_xmat_in[worldid, g1],
+  )
+
+  geom2_dataid = geom_dataid[g2]
+  geom2 = geom(
+    type2,
+    geom2_dataid,
+    geom_size[worldid, g2],
+    mesh_vertadr[geom2_dataid],
+    mesh_vertnum[geom2_dataid],
+    mesh_vert,
+    mesh_graphadr[geom2_dataid],
+    mesh_graph,
+    mesh_polynum[geom2_dataid],
+    mesh_polyadr[geom2_dataid],
+    mesh_polynormal,
+    mesh_polyvertadr,
+    mesh_polyvertnum,
+    mesh_polyvert,
+    mesh_polymapadr,
+    mesh_polymapnum,
+    mesh_polymap,
+    geom_xpos_in[worldid, g2],
+    geom_xmat_in[worldid, g2],
+  )
   g1_plugin = geom_plugin_index[g1]
   g2_plugin = geom_plugin_index[g2]
 
   g1_to_g2_rot = wp.transpose(geom1.rot) * geom2.rot
   g1_to_g2_pos = wp.transpose(geom1.rot) * (geom2.pos - geom1.pos)
-
   aabb_pos = geom_aabb[g1, 0]
   aabb_size = geom_aabb[g1, 1]
   identity = wp.identity(3, dtype=float)
@@ -503,7 +772,6 @@ def _sdf_narrowphase(
   aabb_pos = geom_aabb[g2, 0]
   aabb_size = geom_aabb[g2, 1]
   aabb2 = transform_aabb(aabb_pos, aabb_size, g1_to_g2_pos, g1_to_g2_rot)
-
   aabb_intersection = AABB()
   aabb_intersection.min = wp.max(aabb1.min, aabb2.min)
   aabb_intersection.max = wp.min(aabb1.max, aabb2.max)
@@ -513,69 +781,98 @@ def _sdf_narrowphase(
   pos1 = geom1.pos
   rot1 = geom1.rot
 
-  if type1 == int(GeomType.SDF.value):
-    attr1 = plugin_attr[g1_plugin]
-    g1_plugin_id = plugin[g1_plugin]
-  else:
-    attr1 = geom1.size
-    g1_plugin_id = -1
+  attr1, g1_plugin_id, volume_data1, mesh_data1 = get_sdf_params(
+    oct_aabb, oct_child, oct_coeff, plugin, plugin_attr, type1, geom1.size, g1_plugin, geom_dataid[g1]
+  )
 
-  if g2_plugin != -1:
-    attr2 = plugin_attr[g2_plugin]
-    g2_plugin_id = plugin[g2_plugin]
-  else:
-    attr2 = geom2.size
-    g2_plugin_id = -1
+  attr2, g2_plugin_id, volume_data2, mesh_data2 = get_sdf_params(
+    oct_aabb, oct_child, oct_coeff, plugin, plugin_attr, type2, geom2.size, g2_plugin, geom_dataid[g2]
+  )
 
-  for i in range(sdf_initpoints):
-    x_g2 = wp.vec3(
-      aabb_intersection.min[0] + (aabb_intersection.max[0] - aabb_intersection.min[0]) * halton(i, 2),
-      aabb_intersection.min[1] + (aabb_intersection.max[1] - aabb_intersection.min[1]) * halton(i, 3),
-      aabb_intersection.min[2] + (aabb_intersection.max[2] - aabb_intersection.min[2]) * halton(i, 5),
-    )
+  mesh_data1.nmeshface = nmeshface
+  mesh_data1.mesh_vertadr = mesh_vertadr
+  mesh_data1.mesh_vert = mesh_vert
+  mesh_data1.mesh_faceadr = mesh_faceadr
+  mesh_data1.mesh_face = mesh_face
+  mesh_data1.data_id = geom_dataid[g1]
+  mesh_data1.pos = geom1.pos
+  mesh_data1.mat = geom1.rot
+  mesh_data1.pnt = wp.vec3(-1.0)
+  mesh_data1.vec = wp.vec3(0.0)
+  mesh_data1.valid = True
 
-    x = geom1.rot * x_g2 + geom1.pos
-    x0_initial = wp.transpose(rot2) * (x - pos2)
+  mesh_data2.nmeshface = nmeshface
+  mesh_data2.mesh_vertadr = mesh_vertadr
+  mesh_data2.mesh_vert = mesh_vert
+  mesh_data2.mesh_faceadr = mesh_faceadr
+  mesh_data2.mesh_face = mesh_face
+  mesh_data2.data_id = geom_dataid[g2]
+  mesh_data2.pos = geom2.pos
+  mesh_data2.mat = geom2.rot
+  mesh_data2.pnt = wp.vec3(-1.0)
+  mesh_data2.vec = wp.vec3(0.0)
+  mesh_data2.valid = True
 
-    dist, pos, n = gradient_descent(
-      type1, x0_initial, attr1, attr2, pos1, rot1, pos2, rot2, g1_plugin_id, g2_plugin_id, sdf_iterations
-    )
-
-    write_contact(
-      nconmax_in,
-      dist,
-      pos,
-      make_frame(n),
-      margin,
-      gap,
-      condim,
-      friction,
-      solref,
-      solreffriction,
-      solimp,
-      geoms,
-      worldid,
-      ncon_out,
-      contact_dist_out,
-      contact_pos_out,
-      contact_frame_out,
-      contact_includemargin_out,
-      contact_friction_out,
-      contact_solref_out,
-      contact_solreffriction_out,
-      contact_solimp_out,
-      contact_dim_out,
-      contact_geom_out,
-      contact_worldid_out,
-    )
+  x_g2 = wp.vec3(
+    aabb_intersection.min[0] + (aabb_intersection.max[0] - aabb_intersection.min[0]) * halton(i, 2),
+    aabb_intersection.min[1] + (aabb_intersection.max[1] - aabb_intersection.min[1]) * halton(i, 3),
+    aabb_intersection.min[2] + (aabb_intersection.max[2] - aabb_intersection.min[2]) * halton(i, 5),
+  )
+  x = geom1.rot * x_g2 + geom1.pos
+  x0_initial = wp.transpose(rot2) * (x - pos2)
+  dist, pos, n = gradient_descent(
+    type1,
+    x0_initial,
+    attr1,
+    attr2,
+    pos1,
+    rot1,
+    pos2,
+    rot2,
+    g1_plugin_id,
+    g2_plugin_id,
+    sdf_iterations,
+    volume_data1,
+    volume_data2,
+    mesh_data1,
+    mesh_data2,
+  )
+  write_contact(
+    nconmax_in,
+    dist,
+    pos,
+    make_frame(n),
+    margin,
+    gap,
+    condim,
+    friction,
+    solref,
+    solreffriction,
+    solimp,
+    geoms,
+    worldid,
+    ncon_out,
+    contact_dist_out,
+    contact_pos_out,
+    contact_frame_out,
+    contact_includemargin_out,
+    contact_friction_out,
+    contact_solref_out,
+    contact_solreffriction_out,
+    contact_solimp_out,
+    contact_dim_out,
+    contact_geom_out,
+    contact_worldid_out,
+  )
 
 
 @event_scope
 def sdf_narrowphase(m: Model, d: Data):
   wp.launch(
     _sdf_narrowphase,
-    dim=d.nconmax,
+    dim=(m.opt.sdf_initpoints, d.nconmax),
     inputs=[
+      m.nmeshface,
       m.geom_type,
       m.geom_condim,
       m.geom_dataid,
@@ -585,8 +882,6 @@ def sdf_narrowphase(m: Model, d: Data):
       m.geom_solimp,
       m.geom_size,
       m.geom_aabb,
-      m.geom_pos,
-      m.geom_quat,
       m.geom_friction,
       m.geom_margin,
       m.geom_gap,
@@ -598,6 +893,8 @@ def sdf_narrowphase(m: Model, d: Data):
       m.mesh_vertadr,
       m.mesh_vertnum,
       m.mesh_vert,
+      m.mesh_faceadr,
+      m.mesh_face,
       m.mesh_graphadr,
       m.mesh_graph,
       m.mesh_polynum,
@@ -609,6 +906,9 @@ def sdf_narrowphase(m: Model, d: Data):
       m.mesh_polymapadr,
       m.mesh_polymapnum,
       m.mesh_polymap,
+      m.oct_aabb,
+      m.oct_child,
+      m.oct_coeff,
       m.pair_dim,
       m.pair_solref,
       m.pair_solreffriction,
@@ -623,7 +923,6 @@ def sdf_narrowphase(m: Model, d: Data):
       d.geom_xpos,
       d.geom_xmat,
       d.collision_pair,
-      d.collision_hftri_index,
       d.collision_pairid,
       d.collision_worldid,
       d.ncollision,
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py
index 6f99949f..201eab65 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/constraint.py
@@ -23,7 +23,7 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec11
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
 
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 
 @wp.kernel
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py
index f4e1efc1..6222d438 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/derivative.py
@@ -82,8 +82,8 @@ def _qderiv_actuator_passive(
 
       qderiv += actuator_moment_in[worldid, actid, dofiid] * actuator_moment_in[worldid, actid, dofjid] * vel
 
-    if passive_enabled and dofiid == dofjid:
-      qderiv -= dof_damping[worldid, dofiid] / float(nu)
+  if passive_enabled and dofiid == dofjid:
+    qderiv -= dof_damping[worldid, dofiid]
 
   qderiv *= opt_timestep[worldid]
 
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py
index b021e612..1a71a2e1 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/forward.py
@@ -42,7 +42,6 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec10f
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
-from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
 
 wp.set_module_options({"enable_backward": False})
@@ -358,7 +357,7 @@ def _euler_sparse(m: Model, d: Data):
 
 @cache_kernel
 def _tile_euler_dense(tile: TileSet):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def euler_dense(
     # Model:
     dof_damping: wp.array2d(dtype=float),
@@ -558,7 +557,7 @@ def fwd_position(m: Model, d: Data, factorize: bool = True):
 def _actuator_velocity(m: Model, d: Data):
   NV = m.nv
 
-  @kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def actuator_velocity(
     # Data in:
     qvel_in: wp.array2d(dtype=float),
@@ -590,7 +589,7 @@ def _actuator_velocity(m: Model, d: Data):
 def _tendon_velocity(m: Model, d: Data):
   NV = m.nv
 
-  @kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def tendon_velocity(
     # Data in:
     qvel_in: wp.array2d(dtype=float),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py
index 3856bfc1..8f98bfb3 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/inverse.py
@@ -27,6 +27,8 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import EnableBit
 from mujoco.mjx.third_party.mujoco_warp._src.types import IntegratorType
 from mujoco.mjx.third_party.mujoco_warp._src.types import Model
 
+wp.set_module_options({"enable_backward": False})
+
 
 @wp.kernel
 def _qfrc_eulerdamp(
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
index a6dafbf5..cb264208 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io.py
@@ -30,16 +30,20 @@ MJ_CCD_ITERATIONS = 12
 # max number of worlds supported
 MAX_WORLDS = 2**24
 
+# tolerance override for float32
+_TOLERANCE_F32 = 1.0e-6
 
-def _hfield_geom_pair(mjm: mujoco.MjModel) -> Tuple[int, np.array]:
-  geom1, geom2 = np.triu_indices(mjm.ngeom, k=1)
-  geom_type_hf = mujoco.mjtGeom.mjGEOM_HFIELD
-  has_hfield = (mjm.geom_type[geom1] == geom_type_hf) | (mjm.geom_type[geom2] == geom_type_hf)
-  nhfieldgeompair = np.sum(has_hfield)
-  geompair2hfgeompair = -1 * np.ones(mjm.ngeom * (mjm.ngeom - 1) // 2, dtype=int)
-  geompair2hfgeompair[has_hfield] = np.arange(nhfieldgeompair)
 
-  return nhfieldgeompair, geompair2hfgeompair
+def _max_meshdegree(mjm: mujoco.MjModel) -> int:
+  if mjm.mesh_polyvertnum.size == 0:
+    return 4
+  return max(3, mjm.mesh_polymapnum.max())
+
+
+def _max_npolygon(mjm: mujoco.MjModel) -> int:
+  if mjm.mesh_polyvertnum.size == 0:
+    return 4
+  return max(4, mjm.mesh_polyvertnum.max())
 
 
 def put_model(mjm: mujoco.MjModel) -> types.Model:
@@ -118,20 +122,6 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
   if mjm.opt.noslip_iterations > 0:
     raise NotImplementedError(f"noslip solver not implemented.")
 
-  # contact sensor
-  is_contact_sensor = mjm.sensor_type == types.SensorType.CONTACT
-  if is_contact_sensor.any():
-    # matching
-    if (
-      (mjm.sensor_objtype[is_contact_sensor] != types.ObjType.GEOM)
-      | (mjm.sensor_reftype[is_contact_sensor] != types.ObjType.GEOM)
-    ).any():
-      raise NotImplementedError("Contact sensor: only geom1-geom2 matching is implemented.")
-
-    # reduction
-    if (~((mjm.sensor_intprm[is_contact_sensor, 1] == 1) | (mjm.sensor_intprm[is_contact_sensor, 1] == 2))).any():
-      raise NotImplementedError(f"Contact sensor: only mindist and maxforce reduction are implemented.")
-
   # TODO(team): remove after _update_gradient for Newton uses tile operations for islands
   nv_max = 60
   if mjm.nv > nv_max and mjm.opt.jacobian == mujoco.mjtJacobian.mjJAC_DENSE:
@@ -444,8 +434,11 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
     npair=mjm.npair,
     opt=types.Option(
       timestep=create_nmodel_batched_array(np.array(mjm.opt.timestep), dtype=float, expand_dim=False),
-      tolerance=create_nmodel_batched_array(np.array(mjm.opt.tolerance), dtype=float, expand_dim=False),
+      tolerance=create_nmodel_batched_array(
+        np.array(np.maximum(mjm.opt.tolerance, _TOLERANCE_F32)), dtype=float, expand_dim=False
+      ),
       ls_tolerance=create_nmodel_batched_array(np.array(mjm.opt.ls_tolerance), dtype=float, expand_dim=False),
+      ccd_tolerance=create_nmodel_batched_array(np.array(mjm.opt.ccd_tolerance), dtype=float, expand_dim=False),
       gravity=create_nmodel_batched_array(mjm.opt.gravity, dtype=wp.vec3, expand_dim=False),
       magnetic=create_nmodel_batched_array(mjm.opt.magnetic, dtype=wp.vec3, expand_dim=False),
       wind=create_nmodel_batched_array(mjm.opt.wind, dtype=wp.vec3, expand_dim=False),
@@ -474,6 +467,7 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
       sdf_iterations=mjm.opt.sdf_iterations,
       run_collision_detection=True,
       legacy_gjk=False,
+      contact_sensor_maxmatch=64,
     ),
     stat=types.Statistic(
       meaninertia=mjm.stat.meaninertia,
@@ -635,6 +629,9 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
     mesh_polymapadr=wp.array(mjm.mesh_polymapadr, dtype=int),
     mesh_polymapnum=wp.array(mjm.mesh_polymapnum, dtype=int),
     mesh_polymap=wp.array(mjm.mesh_polymap, dtype=int),
+    oct_aabb=wp.array2d(mjm.oct_aabb, dtype=wp.vec3),
+    oct_child=wp.array(mjm.oct_child, dtype=types.vec8i),
+    oct_coeff=wp.array(mjm.oct_coeff, dtype=types.vec8f),
     nhfield=mjm.nhfield,
     nhfielddata=mjm.nhfielddata,
     hfield_adr=wp.array(mjm.hfield_adr, dtype=int),
@@ -826,7 +823,6 @@ def put_model(mjm: mujoco.MjModel) -> types.Model:
     mat_texrepeat=create_nmodel_batched_array(mjm.mat_texrepeat, dtype=wp.vec2),
     mat_rgba=create_nmodel_batched_array(mjm.mat_rgba, dtype=wp.vec4),
     actuator_trntype_body_adr=wp.array(np.nonzero(mjm.actuator_trntype == mujoco.mjtTrn.mjTRN_BODY)[0], dtype=int),
-    geompair2hfgeompair=wp.array(_hfield_geom_pair(mjm)[1], dtype=int),
     block_dim=types.BlockDim(),
     geom_pair_type_count=tuple(geom_type_pair_count),
     has_sdf_geom=bool(np.any(mjm.geom_type == mujoco.mjtGeom.mjGEOM_SDF)),
@@ -887,6 +883,9 @@ def make_data(mjm: mujoco.MjModel, nworld: int = 1, nconmax: int = -1, njmax: in
   condim = np.concatenate((mjm.geom_condim, mjm.pair_dim))
   condim_max = np.max(condim) if len(condim) > 0 else 0
 
+  max_npolygon = _max_npolygon(mjm)
+  max_meshdegree = _max_meshdegree(mjm)
+
   if mujoco.mj_isSparse(mjm):
     qM = wp.zeros((nworld, 1, mjm.nM), dtype=float)
     qLD = wp.zeros((nworld, 1, mjm.nC), dtype=float)
@@ -907,8 +906,6 @@ def make_data(mjm: mujoco.MjModel, nworld: int = 1, nconmax: int = -1, njmax: in
     njmax=njmax,
     solver_niter=wp.zeros(nworld, dtype=int),
     ncon=wp.zeros(1, dtype=int),
-    ncon_world=wp.zeros(nworld, dtype=int),
-    ncon_hfield=wp.zeros((nworld, _hfield_geom_pair(mjm)[0]), dtype=int),  # warp only
     ne=wp.zeros(nworld, dtype=int),
     ne_connect=wp.zeros(nworld, dtype=int),  # warp only
     ne_weld=wp.zeros(nworld, dtype=int),  # warp only
@@ -1060,7 +1057,6 @@ def make_data(mjm: mujoco.MjModel, nworld: int = 1, nconmax: int = -1, njmax: in
     ),
     # collision driver
     collision_pair=wp.zeros((nconmax,), dtype=wp.vec2i),
-    collision_hftri_index=wp.zeros((nconmax,), dtype=int),
     collision_pairid=wp.zeros((nconmax,), dtype=int),
     collision_worldid=wp.zeros((nconmax,), dtype=int),
     ncollision=wp.zeros((1,), dtype=int),
@@ -1076,6 +1072,17 @@ def make_data(mjm: mujoco.MjModel, nworld: int = 1, nconmax: int = -1, njmax: in
     epa_index=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
     epa_map=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
     epa_horizon=wp.zeros(shape=(nconmax, 6 * MJ_CCD_ITERATIONS), dtype=int),
+    multiccd_polygon=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
+    multiccd_clipped=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
+    multiccd_pnormal=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
+    multiccd_pdist=wp.zeros(shape=(nconmax, max_npolygon), dtype=float),
+    multiccd_idx1=wp.zeros(shape=(nconmax, max_meshdegree), dtype=int),
+    multiccd_idx2=wp.zeros(shape=(nconmax, max_meshdegree), dtype=int),
+    multiccd_n1=wp.zeros(shape=(nconmax, max_meshdegree), dtype=wp.vec3),
+    multiccd_n2=wp.zeros(shape=(nconmax, max_meshdegree), dtype=wp.vec3),
+    multiccd_endvert=wp.zeros(shape=(nconmax, max_meshdegree), dtype=wp.vec3),
+    multiccd_face1=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
+    multiccd_face2=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
     # rne_postconstraint
     cacc=wp.zeros((nworld, mjm.nbody), dtype=wp.spatial_vector),
     cfrc_int=wp.zeros((nworld, mjm.nbody), dtype=wp.spatial_vector),
@@ -1158,6 +1165,9 @@ def put_data(
   if mjd.nefc > njmax:
     raise ValueError(f"njmax overflow (njmax must be >= {mjd.nefc})")
 
+  max_npolygon = _max_npolygon(mjm)
+  max_meshdegree = _max_meshdegree(mjm)
+
   # calculate some fields that cannot be easily computed inline:
   if mujoco.mj_isSparse(mjm):
     qM = np.expand_dims(mjd.qM, axis=0)
@@ -1276,8 +1286,6 @@ def put_data(
     njmax=njmax,
     solver_niter=tile(mjd.solver_niter[0]),
     ncon=arr([mjd.ncon * nworld]),
-    ncon_world=wp.zeros(nworld, dtype=int),
-    ncon_hfield=wp.zeros((nworld, _hfield_geom_pair(mjm)[0]), dtype=int),  # warp only
     ne=wp.full(shape=(nworld), value=mjd.ne),
     ne_connect=wp.full(shape=(nworld), value=ne_connect),
     ne_weld=wp.full(shape=(nworld), value=ne_weld),
@@ -1423,7 +1431,6 @@ def put_data(
     sap_segment_index=arr(np.array([i * mjm.ngeom if i < nworld + 1 else 0 for i in range(2 * nworld)]).reshape((nworld, 2))),
     # collision driver
     collision_pair=wp.empty(nconmax, dtype=wp.vec2i),
-    collision_hftri_index=wp.empty(nconmax, dtype=int),
     collision_pairid=wp.empty(nconmax, dtype=int),
     collision_worldid=wp.empty(nconmax, dtype=int),
     ncollision=wp.zeros(1, dtype=int),
@@ -1439,6 +1446,17 @@ def put_data(
     epa_index=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
     epa_map=wp.zeros(shape=(nconmax, 6 + 6 * MJ_CCD_ITERATIONS), dtype=int),
     epa_horizon=wp.zeros(shape=(nconmax, 6 * MJ_CCD_ITERATIONS), dtype=int),
+    multiccd_polygon=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
+    multiccd_clipped=wp.zeros(shape=(nconmax, 2 * max_npolygon), dtype=wp.vec3),
+    multiccd_pnormal=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
+    multiccd_pdist=wp.zeros(shape=(nconmax, max_npolygon), dtype=float),
+    multiccd_idx1=wp.zeros(shape=(nconmax, max_meshdegree), dtype=int),
+    multiccd_idx2=wp.zeros(shape=(nconmax, max_meshdegree), dtype=int),
+    multiccd_n1=wp.zeros(shape=(nconmax, max_meshdegree), dtype=wp.vec3),
+    multiccd_n2=wp.zeros(shape=(nconmax, max_meshdegree), dtype=wp.vec3),
+    multiccd_endvert=wp.zeros(shape=(nconmax, max_meshdegree), dtype=wp.vec3),
+    multiccd_face1=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
+    multiccd_face2=wp.zeros(shape=(nconmax, max_npolygon), dtype=wp.vec3),
     # rne_postconstraint but also smooth
     cacc=tile(mjd.cacc, dtype=wp.spatial_vector),
     cfrc_int=tile(mjd.cfrc_int, dtype=wp.spatial_vector),
@@ -1631,3 +1649,198 @@ def get_data_into(
 
   # sensors
   result.sensordata[:] = d.sensordata.numpy()
+
+
+@wp.kernel
+def _reset_nworld(
+  # Model:
+  nq: int,
+  nv: int,
+  nu: int,
+  na: int,
+  neq: int,
+  nsensordata: int,
+  qpos0: wp.array2d(dtype=float),
+  eq_active0: wp.array(dtype=bool),
+  # Data in:
+  nworld_in: int,
+  # Data out:
+  solver_niter_out: wp.array(dtype=int),
+  ncon_out: wp.array(dtype=int),
+  ne_out: wp.array(dtype=int),
+  ne_connect_out: wp.array(dtype=int),
+  ne_weld_out: wp.array(dtype=int),
+  ne_jnt_out: wp.array(dtype=int),
+  ne_ten_out: wp.array(dtype=int),
+  nf_out: wp.array(dtype=int),
+  nl_out: wp.array(dtype=int),
+  nefc_out: wp.array(dtype=int),
+  nsolving_out: wp.array(dtype=int),
+  time_out: wp.array(dtype=float),
+  energy_out: wp.array(dtype=wp.vec2),
+  qpos_out: wp.array2d(dtype=float),
+  qvel_out: wp.array2d(dtype=float),
+  act_out: wp.array2d(dtype=float),
+  qacc_warmstart_out: wp.array2d(dtype=float),
+  ctrl_out: wp.array2d(dtype=float),
+  qfrc_applied_out: wp.array2d(dtype=float),
+  eq_active_out: wp.array2d(dtype=bool),
+  qacc_out: wp.array2d(dtype=float),
+  act_dot_out: wp.array2d(dtype=float),
+  sensordata_out: wp.array2d(dtype=float),
+):
+  worldid = wp.tid()
+
+  solver_niter_out[worldid] = 0
+  if worldid == 0:
+    ncon_out[0] = 0
+  ne_out[worldid] = 0
+  ne_connect_out[worldid] = 0
+  ne_weld_out[worldid] = 0
+  ne_jnt_out[worldid] = 0
+  ne_ten_out[worldid] = 0
+  nf_out[worldid] = 0
+  nl_out[worldid] = 0
+  nefc_out[worldid] = 0
+  if worldid == 0:
+    nsolving_out[0] = nworld_in
+  time_out[worldid] = 0.0
+  energy_out[worldid] = wp.vec2(0.0, 0.0)
+  for i in range(nq):
+    qpos_out[worldid, i] = qpos0[worldid, i]
+    if i < nv:
+      qvel_out[worldid, i] = 0.0
+      qacc_warmstart_out[worldid, i] = 0.0
+      qfrc_applied_out[worldid, i] = 0.0
+      qacc_out[worldid, i] = 0.0
+  for i in range(nu):
+    ctrl_out[worldid, i] = 0.0
+    if i < na:
+      act_out[worldid, i] = 0.0
+      act_dot_out[worldid, i] = 0.0
+  for i in range(neq):
+    eq_active_out[worldid, i] = eq_active0[i]
+  for i in range(nsensordata):
+    sensordata_out[worldid, i] = 0.0
+
+
+@wp.kernel
+def _reset_mocap(
+  # Model:
+  body_mocapid: wp.array(dtype=int),
+  body_pos: wp.array2d(dtype=wp.vec3),
+  body_quat: wp.array2d(dtype=wp.quat),
+  # Data out:
+  mocap_pos_out: wp.array2d(dtype=wp.vec3),
+  mocap_quat_out: wp.array2d(dtype=wp.quat),
+):
+  worldid, bodyid = wp.tid()
+
+  mocapid = body_mocapid[bodyid]
+
+  if mocapid >= 0:
+    mocap_pos_out[worldid, mocapid] = body_pos[worldid, bodyid]
+    mocap_quat_out[worldid, mocapid] = body_quat[worldid, bodyid]
+
+
+@wp.kernel
+def _reset_contact(
+  # Data in:
+  ncon_in: wp.array(dtype=int),
+  # In:
+  nefcaddress: int,
+  # Data out:
+  contact_dist_out: wp.array(dtype=float),
+  contact_pos_out: wp.array(dtype=wp.vec3),
+  contact_frame_out: wp.array(dtype=wp.mat33),
+  contact_includemargin_out: wp.array(dtype=float),
+  contact_friction_out: wp.array(dtype=types.vec5),
+  contact_solref_out: wp.array(dtype=wp.vec2),
+  contact_solreffriction_out: wp.array(dtype=wp.vec2),
+  contact_solimp_out: wp.array(dtype=types.vec5),
+  contact_dim_out: wp.array(dtype=int),
+  contact_geom_out: wp.array(dtype=wp.vec2i),
+  contact_efc_address_out: wp.array2d(dtype=int),
+  contact_worldid_out: wp.array(dtype=int),
+):
+  conid = wp.tid()
+
+  if conid >= ncon_in[0]:
+    return
+
+  contact_dist_out[conid] = 0.0
+  contact_pos_out[conid] = wp.vec3(0.0)
+  contact_frame_out[conid] = wp.mat33(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)
+  contact_includemargin_out[conid] = 0.0
+  contact_friction_out[conid] = types.vec5(0.0, 0.0, 0.0, 0.0, 0.0)
+  contact_solref_out[conid] = wp.vec2(0.0, 0.0)
+  contact_solreffriction_out[conid] = wp.vec2(0.0, 0.0)
+  contact_solimp_out[conid] = types.vec5(0.0, 0.0, 0.0, 0.0, 0.0)
+  contact_dim_out[conid] = 0
+  contact_geom_out[conid] = wp.vec2i(0, 0)
+  for i in range(nefcaddress):
+    contact_efc_address_out[conid, i] = 0
+  contact_worldid_out[conid] = 0
+
+
+def reset_data(m: types.Model, d: types.Data):
+  """Clear data, set defaults."""
+  d.xfrc_applied.zero_()
+  d.qM.zero_()
+
+  # set mocap_pos/quat = body_pos/quat for mocap bodies
+  wp.launch(
+    _reset_mocap, dim=(d.nworld, m.nbody), inputs=[m.body_mocapid, m.body_pos, m.body_quat], outputs=[d.mocap_pos, d.mocap_quat]
+  )
+
+  # clear contacts
+  wp.launch(
+    _reset_contact,
+    dim=d.nconmax,
+    inputs=[d.ncon, d.contact.efc_address.shape[1]],
+    outputs=[
+      d.contact.dist,
+      d.contact.pos,
+      d.contact.frame,
+      d.contact.includemargin,
+      d.contact.friction,
+      d.contact.solref,
+      d.contact.solreffriction,
+      d.contact.solimp,
+      d.contact.dim,
+      d.contact.geom,
+      d.contact.efc_address,
+      d.contact.worldid,
+    ],
+  )
+
+  wp.launch(
+    _reset_nworld,
+    dim=d.nworld,
+    inputs=[m.nq, m.nv, m.nu, m.na, m.neq, m.nsensordata, m.qpos0, m.eq_active0, d.nworld],
+    outputs=[
+      d.solver_niter,
+      d.ncon,
+      d.ne,
+      d.ne_connect,
+      d.ne_weld,
+      d.ne_jnt,
+      d.ne_ten,
+      d.nf,
+      d.nl,
+      d.nefc,
+      d.nsolving,
+      d.time,
+      d.energy,
+      d.qpos,
+      d.qvel,
+      d.act,
+      d.qacc_warmstart,
+      d.ctrl,
+      d.qfrc_applied,
+      d.eq_active,
+      d.qacc,
+      d.act_dot,
+      d.sensordata,
+    ],
+  )
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_jax_test.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_jax_test.py
new file mode 100644
index 00000000..5390761d
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_jax_test.py
@@ -0,0 +1,248 @@
+# Copyright 2025 The Newton Developers
+#
+# 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.
+# ==============================================================================
+
+"""Tests for io functions for JAX compatibility.
+
+NOTE: do not edit this file without consulting with the MuJoCo/MJX team.
+"""
+
+import dataclasses
+import typing
+from typing import Any, Dict, Optional, Union
+
+import numpy as np
+import warp as wp
+from absl.testing import absltest
+from absl.testing import parameterized
+
+import mujoco_warp as mjwarp
+
+from mujoco.mjx.third_party.mujoco_warp._src import test_util
+from mujoco.mjx.third_party.mujoco_warp._src.io import MAX_WORLDS
+
+_IO_TEST_MODELS = (
+  "pendula.xml",
+  "collision_sdf/tactile.xml",
+  "flex/floppy.xml",
+  "actuation/tendon_force_limit.xml",
+  "hfield/hfield.xml",
+)
+
+
+def _dims_match(test_obj, d1: Any, d2: Any, prefix: str = ""):
+  """Checks that two dataclasses have fields with the same leading dims."""
+  fields1, fields2 = dataclasses.fields(d1), dataclasses.fields(d2)
+  for f1, f2 in zip(fields1, fields2):
+    full_name = prefix + f1.name
+    a1, a2 = getattr(d1, f1.name), getattr(d2, f2.name)
+    if dataclasses.is_dataclass(a1) or dataclasses.is_dataclass(a2):
+      _dims_match(test_obj, a1, a2, prefix + f1.name + ".")
+      continue
+
+    if isinstance(f1.type, wp.types.array) or isinstance(f2.type, wp.types.array):
+      s1, s2 = a1.shape, a2.shape
+      test_obj.assertEqual(len(s1), len(s2), f"{full_name} dims mismatch. Got {s1} and {s2}.")
+      test_obj.assertEqual(s1, s2, f"{full_name} dims mismatch. Got {s1} and {s2}.")
+
+
+def _get_np_scalar_type(val: Any) -> Optional[Union[bool, int, float]]:
+  """Returns the python type from a numpy scalar."""
+  is_np_scalar = list(isinstance(val, t) for t in (np.integer, np.floating, np.bool_))
+  if any(is_np_scalar):
+    return [int, float, bool][is_np_scalar.index(True)]
+
+
+def _check_type_matches_annotation(test_obj, obj: Any, prefix: str = ""):
+  """Checks that dataclass annotations match the runtime types."""
+  assert dataclasses.is_dataclass(obj), prefix + " must be dataclass."
+  msg = "Type of {val_type} does not match annotation {type_} for field {prefix}{field_name}"
+
+  for field in dataclasses.fields(obj):
+    field_name = field.name
+
+    val = getattr(obj, field_name)
+    val_type = type(val)
+    type_ = field.type
+
+    if dataclasses.is_dataclass(val):
+      test_obj.assertTrue(dataclasses.is_dataclass(type_), msg.format(**locals()))
+      _check_type_matches_annotation(test_obj, val, prefix + field_name + ".")
+      continue
+
+    np_scalar_type = _get_np_scalar_type(val)
+    if np_scalar_type:
+      test_obj.assertIsInstance(np_scalar_type(val), type_, msg.format(**locals()))
+      continue
+
+    if isinstance(type_, wp.types.array):
+      test_obj.assertIsInstance(val, wp.types.array, msg.format(**locals()))
+      continue
+
+    origin_type = typing.get_origin(type_)
+    if tuple in (val_type, origin_type):
+      test_obj.assertEqual(val_type, origin_type, msg.format(**locals()))
+      field_name += ".tuple[]"
+      type_ = typing.get_args(type_)[0]
+
+      items = val
+      for val in items:
+        val_type = type(val)
+        if dataclasses.is_dataclass(val):
+          _check_type_matches_annotation(test_obj, val, prefix + field_name)
+          continue
+
+        np_scalar_type = _get_np_scalar_type(val)
+        if np_scalar_type:
+          test_obj.assertIsInstance(np_scalar_type(val), type_, msg.format(**locals()))
+          continue
+
+        if isinstance(type_, wp.types.array):
+          test_obj.assertIsInstance(val, wp.types.array, msg.format(**locals()))
+          continue
+
+        test_obj.assertEqual(type(val), type_, msg.format(**locals()))
+      continue
+
+    test_obj.assertEqual(type(val), field.type, msg.format(**locals()))
+
+
+def _check_annotation_compat(
+  annotations: Dict[str, Any], prefix: str = "", in_cls: bool = False, in_tuple: bool = False
+) -> Dict[str, Any]:
+  """Checks that dataclass annotations match criteria for JAX API compat."""
+  for k, v in annotations.items():
+    full_key = f"{prefix}{k}"
+    info = f"Found {v} for annotation {full_key}."
+
+    if v in (int, bool, float):
+      continue
+
+    if isinstance(v, wp.types.array):
+      continue
+
+    if v in wp.types.vector_types:
+      raise AssertionError(f"Vector types are not allowed. {info}")
+
+    if typing.get_origin(v) == tuple and (in_cls or in_tuple):
+      raise AssertionError(f"Nested args in Model/Data must not be tuple. {info}")
+
+    if typing.get_origin(v) == tuple:
+      tuple_args = typing.get_args(v)
+      if len(tuple_args) != 2 and tuple_args[1] != ...:
+        raise AssertionError(f"Tuple args must be variadic. {info}")
+
+      _check_annotation_compat(
+        {"[]": tuple_args[0]},
+        prefix=f"{full_key}.tuple",
+        in_cls=in_cls,
+        in_tuple=True,
+      )
+      continue
+
+    if hasattr(v, "__class__") and in_cls:
+      raise AssertionError(f"Nested object args in Model/Data are not allowed. {info}")
+
+    if hasattr(v, "__class__") and not dataclasses.is_dataclass(v):
+      raise AssertionError(f"Args that are objects must be dataclass. {info}")
+
+    if hasattr(v, "__class__") and not v.__module__.startswith("mujoco_warp"):
+      raise AssertionError(f"dataclass args must be within the mujoco_warp module. {info}")
+
+    if hasattr(v, "__class__"):
+      _check_annotation_compat(v.__annotations__, prefix=f"{full_key}{v.__name__}.", in_cls=True, in_tuple=in_tuple)
+      continue
+
+    raise AssertionError(f"Model/Data annotation is not allowed. {info}")
+
+
+def _leading_dims_scale_w_nworld(test_obj, d1: Any, d2: Any, nworld1: int, nworld2: int, prefix: str = ""):
+  """Checks that dataclass fields that scale with nworld have leading dim nworld."""
+  msg = "Arrays that scale with nworld should have leading dim nworld."
+  fields1, fields2 = dataclasses.fields(d1), dataclasses.fields(d2)
+  for f1, f2 in zip(fields1, fields2):
+    full_name = prefix + f1.name
+    a1, a2 = getattr(d1, f1.name), getattr(d2, f2.name)
+    if dataclasses.is_dataclass(a1) or dataclasses.is_dataclass(a2):
+      _leading_dims_scale_w_nworld(test_obj, a1, a2, nworld1, nworld2, prefix + f1.name + ".")
+      continue
+
+    if isinstance(f1.type, wp.types.array) or isinstance(f2.type, wp.types.array):
+      s1, s2 = a1.shape[0], a2.shape[0]
+      if s1 == s2:
+        continue
+      test_obj.assertEqual(s2, nworld2, full_name + f" has leading dim {s2} with nworld={nworld2}. {msg}")
+      test_obj.assertEqual(s1, nworld1, full_name + f" has leading dim {s1} with nworld={nworld1}. {msg}")
+
+
+class IOTest(parameterized.TestCase):
+  def test_put_model_nworld_array(self):
+    """Tests that put_model arrays with nworld leading dim have `_is_batched`."""
+    mjm, *_ = test_util.fixture("pendula.xml")
+    m1 = mjwarp.put_model(mjm)
+
+    self.assertTrue(hasattr(m1.geom_pos, "_is_batched"))
+    self.assertEqual(m1.geom_pos.shape[0], MAX_WORLDS)
+    self.assertEqual(m1.geom_pos.strides[0], 0)
+    self.assertLen(m1.geom_pos.strides, m1.geom_pos.ndim)
+    self.assertTrue(hasattr(m1.opt.gravity, "_is_batched"))
+    self.assertEqual(m1.opt.gravity.shape[0], MAX_WORLDS)
+    self.assertEqual(m1.opt.gravity.strides[0], 0)
+    self.assertLen(m1.opt.gravity.strides, m1.opt.gravity.ndim)
+    self.assertFalse(hasattr(m1.body_parentid, "_is_batched"))
+    self.assertGreater(m1.body_parentid.shape[0], 0)
+    self.assertGreater(m1.body_parentid.strides[0], 0)
+    self.assertLen(m1.body_parentid.strides, m1.body_parentid.ndim)
+
+  @parameterized.parameters(*_IO_TEST_MODELS)
+  def test_put_data_nworld_array(self, xml):
+    """Tests that put_data arrays that scale with nworld have leading dim nworld."""
+    mjm, mjd, _, _ = test_util.fixture(xml)
+    d1 = mjwarp.put_data(mjm, mjd, nworld=1, nconmax=3_000, njmax=3_000)
+    dn = mjwarp.put_data(mjm, mjd, nworld=133, nconmax=3_000, njmax=3_000)
+    _leading_dims_scale_w_nworld(self, d1, dn, 1, 133)
+
+  def test_public_api_jax_compat(self):
+    """Tests that annotations meet a set of criteria for JAX compat."""
+    _check_annotation_compat(mjwarp.Model.__annotations__, "Model.")
+    _check_annotation_compat(mjwarp.Data.__annotations__, "Data.")
+
+  @parameterized.parameters(*_IO_TEST_MODELS)
+  def test_types_match_annotations(self, xml):
+    """Tests that the types of dataclass fields match the annotations."""
+    mjm, _, m, d = test_util.fixture(xml)
+
+    _check_type_matches_annotation(self, m, "Model.")
+    _check_type_matches_annotation(self, d, "Data.")
+
+    d = mjwarp.make_data(mjm, nworld=2)
+    _check_type_matches_annotation(self, d, "Data.")
+
+  @parameterized.parameters(*_IO_TEST_MODELS)
+  def test_make_put_data_dims_match(self, xml):
+    """Tests that make_data and put_data have matching dimensions."""
+    mjm, mjd, _, _ = test_util.fixture(xml)
+    dm2 = mjwarp.make_data(mjm, nworld=2, nconmax=3_000, njmax=4_200)
+    dm3 = mjwarp.make_data(mjm, nworld=3, nconmax=3_000, njmax=4_200)
+
+    dp2 = mjwarp.put_data(mjm, mjd, nworld=2, nconmax=3_000, njmax=4_200)
+    dp3 = mjwarp.put_data(mjm, mjd, nworld=3, nconmax=3_000, njmax=4_200)
+
+    _dims_match(self, dm2, dp2)
+    _dims_match(self, dm3, dp3)
+
+
+if __name__ == "__main__":
+  wp.init()
+  absltest.main()
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_test.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_test.py
index 1560550e..1d0eebcd 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_test.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/io_test.py
@@ -15,10 +15,6 @@
 
 """Tests for io functions."""
 
-import dataclasses
-import typing
-from typing import Any, Dict, Optional, Union
-
 import mujoco
 import numpy as np
 import warp as wp
@@ -28,8 +24,15 @@ from absl.testing import parameterized
 import mujoco_warp as mjwarp
 
 from mujoco.mjx.third_party.mujoco_warp._src import test_util
-from mujoco.mjx.third_party.mujoco_warp._src.io import MAX_WORLDS
 
+
+def _assert_eq(a, b, name):
+  tol = 5e-4
+  err_msg = f"mismatch: {name}"
+  np.testing.assert_allclose(a, b, err_msg=err_msg, atol=tol, rtol=tol)
+
+
+# NOTE: modify io_jax_test _IO_TEST_MODELS if changed here.
 _IO_TEST_MODELS = (
   "pendula.xml",
   "collision_sdf/tactile.xml",
@@ -39,150 +42,6 @@ _IO_TEST_MODELS = (
 )
 
 
-def _dims_match(test_obj, d1: Any, d2: Any, prefix: str = ""):
-  """Checks that two dataclasses have fields with the same leading dims."""
-  fields1, fields2 = dataclasses.fields(d1), dataclasses.fields(d2)
-  for f1, f2 in zip(fields1, fields2):
-    full_name = prefix + f1.name
-    a1, a2 = getattr(d1, f1.name), getattr(d2, f2.name)
-    if dataclasses.is_dataclass(a1) or dataclasses.is_dataclass(a2):
-      _dims_match(test_obj, a1, a2, prefix + f1.name + ".")
-      continue
-
-    if isinstance(f1.type, wp.types.array) or isinstance(f2.type, wp.types.array):
-      s1, s2 = a1.shape, a2.shape
-      test_obj.assertEqual(len(s1), len(s2), f"{full_name} dims mismatch. Got {s1} and {s2}.")
-      test_obj.assertEqual(s1, s2, f"{full_name} dims mismatch. Got {s1} and {s2}.")
-
-
-def _get_np_scalar_type(val: Any) -> Optional[Union[bool, int, float]]:
-  """Returns the python type from a numpy scalar."""
-  is_np_scalar = list(isinstance(val, t) for t in (np.integer, np.floating, np.bool_))
-  if any(is_np_scalar):
-    return [int, float, bool][is_np_scalar.index(True)]
-
-
-def _check_type_matches_annotation(test_obj, obj: Any, prefix: str = ""):
-  """Checks that dataclass annotations match the runtime types."""
-  assert dataclasses.is_dataclass(obj), prefix + " must be dataclass."
-  msg = "Type of {val_type} does not match annotation {type_} for field {prefix}{field_name}"
-
-  for field in dataclasses.fields(obj):
-    field_name = field.name
-    val = getattr(obj, field_name)
-    val_type = type(val)
-    type_ = field.type
-
-    if dataclasses.is_dataclass(val):
-      test_obj.assertTrue(dataclasses.is_dataclass(type_), msg.format(**locals()))
-      _check_type_matches_annotation(test_obj, val, prefix + field_name + ".")
-      continue
-
-    np_scalar_type = _get_np_scalar_type(val)
-    if np_scalar_type:
-      test_obj.assertIsInstance(np_scalar_type(val), type_, msg.format(**locals()))
-      continue
-
-    if isinstance(type_, wp.types.array):
-      test_obj.assertIsInstance(val, wp.types.array, msg.format(**locals()))
-      continue
-
-    origin_type = typing.get_origin(type_)
-    if tuple in (val_type, origin_type):
-      test_obj.assertEqual(val_type, origin_type, msg.format(**locals()))
-      field_name += ".tuple[]"
-      type_ = typing.get_args(type_)[0]
-
-      items = val
-      for val in items:
-        val_type = type(val)
-        if dataclasses.is_dataclass(val):
-          _check_type_matches_annotation(test_obj, val, prefix + field_name)
-          continue
-
-        np_scalar_type = _get_np_scalar_type(val)
-        if np_scalar_type:
-          test_obj.assertIsInstance(np_scalar_type(val), type_, msg.format(**locals()))
-          continue
-
-        if isinstance(type_, wp.types.array):
-          test_obj.assertIsInstance(val, wp.types.array, msg.format(**locals()))
-          continue
-
-        test_obj.assertEqual(type(val), type_, msg.format(**locals()))
-      continue
-
-    test_obj.assertEqual(type(val), field.type, msg.format(**locals()))
-
-
-def _check_annotation_compat(
-  annotations: Dict[str, Any], prefix: str = "", in_cls: bool = False, in_tuple: bool = False
-) -> Dict[str, Any]:
-  """Checks that dataclass annotations match criteria for JAX API compat."""
-  for k, v in annotations.items():
-    full_key = f"{prefix}{k}"
-    info = f"Found {v} for annotation {full_key}."
-
-    if v in (int, bool, float):
-      continue
-
-    if isinstance(v, wp.types.array):
-      continue
-
-    if v in wp.types.vector_types:
-      raise AssertionError(f"Vector types are not allowed. {info}")
-
-    if typing.get_origin(v) == tuple and (in_cls or in_tuple):
-      raise AssertionError(f"Nested args in Model/Data must not be tuple. {info}")
-
-    if typing.get_origin(v) == tuple:
-      tuple_args = typing.get_args(v)
-      if len(tuple_args) != 2 and tuple_args[1] != ...:
-        raise AssertionError(f"Tuple args must be variadic. {info}")
-
-      _check_annotation_compat(
-        {"[]": tuple_args[0]},
-        prefix=f"{full_key}.tuple",
-        in_cls=in_cls,
-        in_tuple=True,
-      )
-      continue
-
-    if hasattr(v, "__class__") and in_cls:
-      raise AssertionError(f"Nested object args in Model/Data are not allowed. {info}")
-
-    if hasattr(v, "__class__") and not dataclasses.is_dataclass(v):
-      raise AssertionError(f"Args that are objects must be dataclass. {info}")
-
-    if hasattr(v, "__class__") and not v.__module__.startswith("mujoco_warp"):
-      raise AssertionError(f"dataclass args must be within the mujoco_warp module. {info}")
-
-    if hasattr(v, "__class__"):
-      _check_annotation_compat(v.__annotations__, prefix=f"{full_key}{v.__name__}.", in_cls=True, in_tuple=in_tuple)
-      continue
-
-    raise AssertionError(f"Model/Data annotation is not allowed. {info}")
-
-
-def _leading_dims_scale_w_nworld(test_obj, d1: Any, d2: Any, nworld1: int, nworld2: int, prefix: str = ""):
-  """Checks that dataclass fields that scale with nworld have leading dim nworld."""
-  msg = "Arrays that scale with nworld should have leading dim nworld."
-  fields1, fields2 = dataclasses.fields(d1), dataclasses.fields(d2)
-  for f1, f2 in zip(fields1, fields2):
-    full_name = prefix + f1.name
-    a1, a2 = getattr(d1, f1.name), getattr(d2, f2.name)
-    if dataclasses.is_dataclass(a1) or dataclasses.is_dataclass(a2):
-      _leading_dims_scale_w_nworld(test_obj, a1, a2, nworld1, nworld2, prefix + f1.name + ".")
-      continue
-
-    if isinstance(f1.type, wp.types.array) or isinstance(f2.type, wp.types.array):
-      s1, s2 = a1.shape[0], a2.shape[0]
-      if s1 == s2:
-        continue
-      test_obj.assertEqual(s2, nworld2, full_name + f" has leading dim {s2} with nworld={nworld2}. {msg}")
-      test_obj.assertEqual(s1, nworld1, full_name + f" has leading dim {s1} with nworld={nworld1}. {msg}")
-
-
 class IOTest(parameterized.TestCase):
   def test_make_put_data(self):
     """Tests that make_data and put_data are producing the same shapes for all arrays."""
@@ -197,8 +56,6 @@ class IOTest(parameterized.TestCase):
       if isinstance(val, wp.array):
         self.assertEqual(val.shape, getattr(d, attr).shape, f"{attr} shape mismatch")
 
-  # TODO(team): sensors
-
   def test_get_data_into_m(self):
     mjm = mujoco.MjModel.from_xml_string("""
       <mujoco>
@@ -299,95 +156,77 @@ class IOTest(parameterized.TestCase):
       """
       )
 
-  def test_put_model_nworld_array(self):
-    """Tests that put_model arrays with nworld leading dim have `_is_batched`."""
-    mjm, *_ = test_util.fixture("pendula.xml")
-    m1 = mjwarp.put_model(mjm)
-
-    self.assertTrue(hasattr(m1.geom_pos, "_is_batched"))
-    self.assertEqual(m1.geom_pos.shape[0], MAX_WORLDS)
-    self.assertEqual(m1.geom_pos.strides[0], 0)
-    self.assertLen(m1.geom_pos.strides, m1.geom_pos.ndim)
-    self.assertTrue(hasattr(m1.opt.gravity, "_is_batched"))
-    self.assertEqual(m1.opt.gravity.shape[0], MAX_WORLDS)
-    self.assertEqual(m1.opt.gravity.strides[0], 0)
-    self.assertLen(m1.opt.gravity.strides, m1.opt.gravity.ndim)
-    self.assertFalse(hasattr(m1.body_parentid, "_is_batched"))
-    self.assertGreater(m1.body_parentid.shape[0], 0)
-    self.assertGreater(m1.body_parentid.strides[0], 0)
-    self.assertLen(m1.body_parentid.strides, m1.body_parentid.ndim)
-
   @parameterized.parameters(*_IO_TEST_MODELS)
-  def test_put_data_nworld_array(self, xml):
-    """Tests that put_data arrays that scale with nworld have leading dim nworld."""
-    mjm, mjd, _, _ = test_util.fixture(xml)
-    d1 = mjwarp.put_data(mjm, mjd, nworld=1, nconmax=3_000, njmax=3_000)
-    dn = mjwarp.put_data(mjm, mjd, nworld=133, nconmax=3_000, njmax=3_000)
-    _leading_dims_scale_w_nworld(self, d1, dn, 1, 133)
+  def test_reset_data(self, xml):
+    reset_datafield = [
+      "ncon",
+      "ne",
+      "nf",
+      "nl",
+      "nefc",
+      "time",
+      "energy",
+      "qpos",
+      "qvel",
+      "act",
+      "ctrl",
+      "eq_active",
+      "qfrc_applied",
+      "xfrc_applied",
+      "qacc",
+      "qacc_warmstart",
+      "act_dot",
+      "sensordata",
+      "mocap_pos",
+      "mocap_quat",
+      "qM",
+    ]
 
-  @parameterized.parameters(*_IO_TEST_MODELS)
-  def test_make_data_nworld_array(self, xml):
-    """Tests that make_data arrays that scale with nworld have leading dim nworld."""
-    mjm, *_ = test_util.fixture(xml)
-    d1 = mjwarp.make_data(mjm, nworld=1, nconmax=3_000, njmax=3_000)
-    dn = mjwarp.make_data(mjm, nworld=133, nconmax=3_000, njmax=3_000)
-    _leading_dims_scale_w_nworld(self, d1, dn, 1, 133)
+    nworld = 1
+    mjm, mjd, m, d = test_util.fixture(xml, nworld=nworld)
+    nconmax = d.nconmax
 
-  def test_public_api_jax_compat(self):
-    """Tests that annotations meet a set of criteria for JAX compat."""
-    _check_annotation_compat(mjwarp.Model.__annotations__, "Model.")
-    _check_annotation_compat(mjwarp.Data.__annotations__, "Data.")
+    # data fields
+    for arr in reset_datafield:
+      attr = getattr(d, arr)
+      if attr.dtype == float:
+        attr.fill_(wp.nan)
+      else:
+        attr.fill_(-1)
 
-  @parameterized.parameters(*_IO_TEST_MODELS)
-  def test_types_match_annotations(self, xml):
-    """Tests that the types of dataclass fields match the annotations."""
-    mjm, _, m, d = test_util.fixture(xml)
+    for arr in d.contact.__dataclass_fields__:
+      attr = getattr(d.contact, arr)
+      if attr.dtype == float:
+        attr.fill_(wp.nan)
+      else:
+        attr.fill_(-1)
 
-    _check_type_matches_annotation(self, m, "Model.")
-    _check_type_matches_annotation(self, d, "Data.")
+    mujoco.mj_resetData(mjm, mjd)
 
-    d = mjwarp.make_data(mjm, nworld=2)
-    _check_type_matches_annotation(self, d, "Data.")
+    # set ncon in order to zero all contact memory
+    wp.copy(d.ncon, wp.array([nconmax], dtype=int))
+    mjwarp.reset_data(m, d)
 
-  @parameterized.parameters(*_IO_TEST_MODELS)
-  def test_make_put_data_dims_match(self, xml):
-    """Tests that make_data and put_data have matching dimensions."""
-    mjm, mjd, _, _ = test_util.fixture(xml)
-    dm2 = mjwarp.make_data(mjm, nworld=2, nconmax=3_000, njmax=4_200)
-    dm3 = mjwarp.make_data(mjm, nworld=3, nconmax=3_000, njmax=4_200)
+    for arr in reset_datafield:
+      d_arr = getattr(d, arr).numpy()
+      for i in range(d_arr.shape[0]):
+        di_arr = d_arr[i]
+        if arr == "qM":
+          di_arr = di_arr.reshape(-1)[: mjd.qM.size]
+        _assert_eq(di_arr, getattr(mjd, arr), arr)
 
-    dp2 = mjwarp.put_data(mjm, mjd, nworld=2, nconmax=3_000, njmax=4_200)
-    dp3 = mjwarp.put_data(mjm, mjd, nworld=3, nconmax=3_000, njmax=4_200)
+    for arr in d.contact.__dataclass_fields__:
+      _assert_eq(getattr(d.contact, arr).numpy(), 0.0, arr)
 
-    _dims_match(self, dm2, dp2)
-    _dims_match(self, dm3, dp3)
+  def test_sdf(self):
+    """Tests that an SDF can be loaded."""
+    mjm, mjd, m, d = test_util.fixture(fname="collision_sdf/cow.xml", qpos0=True)
 
-  @parameterized.parameters(
-    '<contact geom1="plane"/>',
-    '<contact geom2="plane"/>',
-    '<contact site="site"/>',
-    '<contact reduce="netforce"/>',
-    '<contact geom1="plane" geom2="sphere"/>',
-  )
-  def test_contact_sensor(self, contact_sensor):
-    mjm = mujoco.MjModel.from_xml_string(f"""
-      <mujoco>
-        <worldbody>
-          <site name="site"/>
-          <geom name="plane" type="plane" size="10 10 .001"/>
-          <body name="body">
-            <geom name="sphere" size=".1"/>
-            <joint type="slide" axis="0 0 1"/>
-          </body>
-        </worldbody>
-        <sensor>
-          {contact_sensor}
-        </sensor>
-      </mujoco>
-    """)
-
-    with self.assertRaises(NotImplementedError):
-      mjwarp.put_model(mjm)
+    self.assertIsInstance(m.oct_aabb, wp.array)
+    self.assertEqual(m.oct_aabb.dtype, wp.vec3)
+    self.assertEqual(len(m.oct_aabb.shape), 2)
+    if m.oct_aabb.size > 0:
+      self.assertEqual(m.oct_aabb.shape[1], 2)
 
 
 if __name__ == "__main__":
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py
index d2864033..244d9ea3 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/passive.py
@@ -24,6 +24,8 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import JointType
 from mujoco.mjx.third_party.mujoco_warp._src.types import Model
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
 
+wp.set_module_options({"enable_backward": False})
+
 
 @wp.kernel
 def _spring_damper_dof_passive(
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py
index 787c4cd6..98d7962d 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/ray.py
@@ -24,6 +24,8 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
 from mujoco.mjx.third_party.mujoco_warp._src.types import Model
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec6
 
+wp.set_module_options({"enable_backward": False})
+
 
 @wp.func
 def _ray_map(pos: wp.vec3, mat: wp.mat33, pnt: wp.vec3, vec: wp.vec3) -> Tuple[wp.vec3, wp.vec3]:
@@ -534,7 +536,7 @@ def _ray_hfield(
 
 
 @wp.func
-def _ray_mesh(
+def ray_mesh(
   # Model:
   nmeshface: int,
   mesh_vertadr: wp.array(dtype=int),
@@ -674,7 +676,7 @@ def _ray_geom_mesh(
     type = geom_type[geomid]
 
     if type == int(GeomType.MESH.value):
-      return _ray_mesh(
+      return ray_mesh(
         nmeshface,
         mesh_vertadr,
         mesh_vert,
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
index 15e8e655..5b13b591 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
@@ -21,8 +21,8 @@ from mujoco.mjx.third_party.mujoco_warp._src import math
 from mujoco.mjx.third_party.mujoco_warp._src import ray
 from mujoco.mjx.third_party.mujoco_warp._src import smooth
 from mujoco.mjx.third_party.mujoco_warp._src import support
+from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import get_sdf_params
 from mujoco.mjx.third_party.mujoco_warp._src.collision_sdf import sdf
-from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MAXCONPAIR
 from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
 from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
 from mujoco.mjx.third_party.mujoco_warp._src.types import ConstraintType
@@ -37,10 +37,15 @@ from mujoco.mjx.third_party.mujoco_warp._src.types import SensorType
 from mujoco.mjx.third_party.mujoco_warp._src.types import TrnType
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec5
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec6
+from mujoco.mjx.third_party.mujoco_warp._src.types import vec8f
+from mujoco.mjx.third_party.mujoco_warp._src.types import vec8i
+from mujoco.mjx.third_party.mujoco_warp._src.util_misc import inside_geom
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import cache_kernel
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import event_scope
 from mujoco.mjx.third_party.mujoco_warp._src.warp_util import kernel as nested_kernel
 
+wp.set_module_options({"enable_backward": False})
+
 
 @wp.func
 def _write_scalar(
@@ -1540,6 +1545,7 @@ def _sensor_acc(
     dataspec = sensor_intprm[sensorid, 0]
     dim = sensor_dim[sensorid]
     objtype = sensor_objtype[sensorid]
+    reduce = sensor_intprm[sensorid, 1]
 
     # found, force, torque, dist, pos, normal, tangent
     # TODO(thowell): precompute slot size
@@ -1580,21 +1586,16 @@ def _sensor_acc(
 
     adr = sensor_adr[sensorid]
     contactsensorid = sensor_adr_to_contact_adr[sensorid]
-
     nmatch = sensor_contact_nmatch_in[worldid, contactsensorid]
-    for i in range(wp.min(nmatch, num)):
-      # sorted contact id
-      cid = sensor_contact_matchid_in[worldid, contactsensorid, i]
 
-      # contact direction
-      dir = sensor_contact_direction_in[worldid, contactsensorid, i]
+    if reduce == 3:  # netforce
+      # compute point: force-weighted centroid of contact position
+      net_pos = wp.vec3(0.0)
+      total_force_magnitude = float(0.0)
 
-      adr_slot = adr + i * size
+      for i in range(nmatch):
+        cid = sensor_contact_matchid_in[worldid, contactsensorid, i]
 
-      if found:
-        out[adr_slot] = float(nmatch)
-        adr_slot += 1
-      if force or torque:
         contact_forcetorque = support.contact_force_fn(
           opt_cone,
           njmax_in,
@@ -1608,42 +1609,148 @@ def _sensor_acc(
           cid,
           False,
         )
+
+        weight = wp.norm_l2(wp.spatial_top(contact_forcetorque))
+        net_pos += weight * contact_pos_in[cid]
+        total_force_magnitude += weight
+
+      net_pos /= wp.max(total_force_magnitude, MJ_MINVAL)
+
+      # TODO(team): iterate over matches once
+
+      # compute total wrench about point, in the global frame
+      net_force = wp.vec3(0.0)
+      net_torque = wp.vec3(0.0)
+
+      for i in range(nmatch):
+        cid = sensor_contact_matchid_in[worldid, contactsensorid, i]
+        dir = sensor_contact_direction_in[worldid, contactsensorid, i]
+
+        contact_forcetorque = support.contact_force_fn(
+          opt_cone,
+          njmax_in,
+          ncon_in,
+          contact_frame_in,
+          contact_friction_in,
+          contact_dim_in,
+          contact_efc_address_in,
+          efc_force_in,
+          worldid,
+          cid,
+          False,
+        )
+        contact_forcetorque *= dir
+
+        force_local = wp.spatial_top(contact_forcetorque)
+        torque_local = wp.spatial_bottom(contact_forcetorque)
+
+        frame = contact_frame_in[cid]
+        frameT = wp.transpose(frame)
+
+        force_global = frameT @ force_local
+        torque_global = frameT @ torque_local
+
+        # add to total force, torque
+        net_force += force_global
+        net_torque += torque_global
+
+        # add induced moment: torque += (pos - point) x force
+        net_torque += wp.cross(contact_pos_in[cid] - net_pos, force_global)
+
+      adr_slot = adr
+
+      if found:
+        out[adr_slot] = float(nmatch)
+        adr_slot += 1
       if force:
-        out[adr_slot + 0] = contact_forcetorque[0]
-        out[adr_slot + 1] = contact_forcetorque[1]
-        out[adr_slot + 2] = dir * contact_forcetorque[2]
+        out[adr_slot + 0] = net_force[0]
+        out[adr_slot + 1] = net_force[1]
+        out[adr_slot + 2] = net_force[2]
         adr_slot += 3
       if torque:
-        out[adr_slot + 0] = contact_forcetorque[3]
-        out[adr_slot + 1] = contact_forcetorque[4]
-        out[adr_slot + 2] = dir * contact_forcetorque[5]
+        out[adr_slot + 0] = net_torque[0]
+        out[adr_slot + 1] = net_torque[1]
+        out[adr_slot + 2] = net_torque[2]
         adr_slot += 3
       if dist:
-        out[adr_slot] = contact_dist_in[cid]
+        out[adr_slot] = 0.0
         adr_slot += 1
       if pos:
-        contact_pos = contact_pos_in[cid]
-        out[adr_slot + 0] = contact_pos[0]
-        out[adr_slot + 1] = contact_pos[1]
-        out[adr_slot + 2] = contact_pos[2]
+        out[adr_slot + 0] = net_pos[0]
+        out[adr_slot + 1] = net_pos[1]
+        out[adr_slot + 2] = net_pos[2]
         adr_slot += 3
       if normal:
-        contact_normal = contact_frame_in[cid][0]
-        out[adr_slot + 0] = dir * contact_normal[0]
-        out[adr_slot + 1] = dir * contact_normal[1]
-        out[adr_slot + 2] = dir * contact_normal[2]
+        out[adr_slot + 0] = 1.0
+        out[adr_slot + 1] = 0.0
+        out[adr_slot + 2] = 0.0
         adr_slot += 3
       if tangent:
-        contact_tangent = contact_frame_in[cid][1]
-        out[adr_slot + 0] = dir * contact_tangent[0]
-        out[adr_slot + 1] = dir * contact_tangent[1]
-        out[adr_slot + 2] = dir * contact_tangent[2]
-        adr_slot += 3
+        out[adr_slot + 0] = 0.0
+        out[adr_slot + 1] = 1.0
+        out[adr_slot + 2] = 0.0
+    else:
+      for i in range(wp.min(nmatch, num)):
+        # sorted contact id
+        cid = sensor_contact_matchid_in[worldid, contactsensorid, i]
 
-    # zero remaining slots
-    for i in range(nmatch, num):
-      for j in range(size):
-        out[adr + i * size + j] = 0.0
+        # contact direction
+        dir = sensor_contact_direction_in[worldid, contactsensorid, i]
+
+        adr_slot = adr + i * size
+
+        if found:
+          out[adr_slot] = float(nmatch)
+          adr_slot += 1
+        if force or torque:
+          contact_forcetorque = support.contact_force_fn(
+            opt_cone,
+            njmax_in,
+            ncon_in,
+            contact_frame_in,
+            contact_friction_in,
+            contact_dim_in,
+            contact_efc_address_in,
+            efc_force_in,
+            worldid,
+            cid,
+            False,
+          )
+        if force:
+          out[adr_slot + 0] = contact_forcetorque[0]
+          out[adr_slot + 1] = contact_forcetorque[1]
+          out[adr_slot + 2] = dir * contact_forcetorque[2]
+          adr_slot += 3
+        if torque:
+          out[adr_slot + 0] = contact_forcetorque[3]
+          out[adr_slot + 1] = contact_forcetorque[4]
+          out[adr_slot + 2] = dir * contact_forcetorque[5]
+          adr_slot += 3
+        if dist:
+          out[adr_slot] = contact_dist_in[cid]
+          adr_slot += 1
+        if pos:
+          contact_pos = contact_pos_in[cid]
+          out[adr_slot + 0] = contact_pos[0]
+          out[adr_slot + 1] = contact_pos[1]
+          out[adr_slot + 2] = contact_pos[2]
+          adr_slot += 3
+        if normal:
+          contact_normal = contact_frame_in[cid][0]
+          out[adr_slot + 0] = dir * contact_normal[0]
+          out[adr_slot + 1] = dir * contact_normal[1]
+          out[adr_slot + 2] = dir * contact_normal[2]
+          adr_slot += 3
+        if tangent:
+          contact_tangent = contact_frame_in[cid][1]
+          out[adr_slot + 0] = dir * contact_tangent[0]
+          out[adr_slot + 1] = dir * contact_tangent[1]
+          out[adr_slot + 2] = dir * contact_tangent[2]
+
+      # zero remaining slots
+      for i in range(nmatch, num):
+        for j in range(size):
+          out[adr + i * size + j] = 0.0
 
   elif sensortype == int(SensorType.ACCELEROMETER.value):
     vec3 = _accelerometer(
@@ -1787,12 +1894,17 @@ def _sensor_tactile(
   # Model:
   body_rootid: wp.array(dtype=int),
   body_weldid: wp.array(dtype=int),
+  geom_type: wp.array(dtype=int),
   geom_bodyid: wp.array(dtype=int),
+  geom_size: wp.array2d(dtype=wp.vec3),
   mesh_vertadr: wp.array(dtype=int),
   mesh_vert: wp.array(dtype=wp.vec3),
   mesh_normaladr: wp.array(dtype=int),
   mesh_normal: wp.array(dtype=wp.vec3),
   mesh_quat: wp.array(dtype=wp.quat),
+  oct_aabb: wp.array2d(dtype=wp.vec3),
+  oct_child: wp.array(dtype=vec8i),
+  oct_coeff: wp.array(dtype=vec8f),
   sensor_objid: wp.array(dtype=int),
   sensor_refid: wp.array(dtype=int),
   sensor_dim: wp.array(dtype=int),
@@ -1852,9 +1964,15 @@ def _sensor_tactile(
   tmp = xpos - geom_xpos_in[worldid, geom]
   lpos = wp.transpose(geom_xmat_in[worldid, geom]) @ tmp
 
-  # compute distance
   plugin_id = geom_plugin_index[geom]
-  depth = wp.min(sdf(int(GeomType.SDF.value), lpos, plugin_attr[plugin_id], plugin[plugin_id]), 0.0)
+
+  contact_type = geom_type[geom]
+
+  plugin_attributes, plugin_index, volume_data, mesh_data = get_sdf_params(
+    oct_aabb, oct_child, oct_coeff, plugin, plugin_attr, contact_type, geom_size[worldid, geom], plugin_id, mesh_id
+  )
+
+  depth = wp.min(sdf(contact_type, lpos, plugin_attributes, plugin_index, volume_data, mesh_data), 0.0)
   if depth >= 0.0:
     return
 
@@ -1887,18 +2005,47 @@ def _sensor_tactile(
   wp.atomic_add(sensordata_out[worldid], sensor_adr[sensor_id] + 2 * dim + vertid, forceT[2])
 
 
+@wp.func
+def _check_match(body_parentid: wp.array(dtype=int), body: int, geom: int, objtype: int, objid: int) -> bool:
+  """Check if a contact body/geom matches a sensor spec (objtype, objid)."""
+  if objtype == int(ObjType.UNKNOWN.value):
+    return True
+  if objtype == int(ObjType.SITE.value):
+    return True  # already passed site filter test
+  if objtype == int(ObjType.GEOM.value):
+    return objid == geom
+  if objtype == int(ObjType.BODY.value):
+    return objid == body
+  if objtype == int(ObjType.XBODY.value):
+    # traverse up the tree from body, return true if we land on id
+    while body > objid:
+      body = body_parentid[body]
+    return body == objid
+  return False
+
+
 @wp.kernel
 def _contact_match(
   # Model:
   opt_cone: int,
+  opt_contact_sensor_maxmatch: int,
+  body_parentid: wp.array(dtype=int),
+  geom_bodyid: wp.array(dtype=int),
+  site_type: wp.array(dtype=int),
+  site_size: wp.array(dtype=wp.vec3),
+  sensor_objtype: wp.array(dtype=int),
   sensor_objid: wp.array(dtype=int),
+  sensor_reftype: wp.array(dtype=int),
   sensor_refid: wp.array(dtype=int),
   sensor_intprm: wp.array2d(dtype=int),
   sensor_contact_adr: wp.array(dtype=int),
   # Data in:
   njmax_in: int,
   ncon_in: wp.array(dtype=int),
+  site_xpos_in: wp.array2d(dtype=wp.vec3),
+  site_xmat_in: wp.array2d(dtype=wp.mat33),
   contact_dist_in: wp.array(dtype=float),
+  contact_pos_in: wp.array(dtype=wp.vec3),
   contact_frame_in: wp.array(dtype=wp.mat33),
   contact_friction_in: wp.array(dtype=vec5),
   contact_dim_in: wp.array(dtype=int),
@@ -1919,76 +2066,129 @@ def _contact_match(
     return
 
   # sensor information
+  objtype = sensor_objtype[sensorid]
   objid = sensor_objid[sensorid]
+  reftype = sensor_reftype[sensorid]
   refid = sensor_refid[sensorid]
   reduce = sensor_intprm[sensorid, 1]
 
-  # contact information
-  geom = contact_geom_in[contactid]
+  worldid = contact_worldid_in[contactid]
 
-  # geom-geom match
-  geom0geom1 = objid == geom[0] and refid == geom[1]
-  geom1geom0 = objid == geom[1] and refid == geom[0]
-  if geom0geom1 or geom1geom0:
-    worldid = contact_worldid_in[contactid]
+  # site filter
+  if objtype == int(ObjType.SITE.value):
+    if not inside_geom(
+      site_xpos_in[worldid, objid], site_xmat_in[worldid, objid], site_size[objid], site_type[objid], contact_pos_in[contactid]
+    ):
+      return
 
-    contactmatchid = wp.atomic_add(sensor_contact_nmatch_out[worldid], contactsensorid, 1)
-    sensor_contact_matchid_out[worldid, contactsensorid, contactmatchid] = contactid
+  # unknown-unknown match
+  if objtype == int(ObjType.UNKNOWN.value) and reftype == int(ObjType.UNKNOWN.value):
+    dir = 1.0
+  else:
+    # contact information
+    geom = contact_geom_in[contactid]
+    geom1 = geom[0]
+    geom2 = geom[1]
+    body1 = geom_bodyid[geom1]
+    body2 = geom_bodyid[geom2]
 
-    if reduce == 1:  # mindist
-      sensor_contact_criteria_out[worldid, contactsensorid, contactmatchid] = contact_dist_in[contactid]
-    elif reduce == 2:  # maxforce
-      contact_force = support.contact_force_fn(
-        opt_cone,
-        njmax_in,
-        ncon_in,
-        contact_frame_in,
-        contact_friction_in,
-        contact_dim_in,
-        contact_efc_address_in,
-        efc_force_in,
-        worldid,
-        contactid,
-        False,
-      )
-      force_magnitude = (
-        contact_force[0] * contact_force[0] + contact_force[1] * contact_force[1] + contact_force[2] * contact_force[2]
-      )
-      sensor_contact_criteria_out[worldid, contactsensorid, contactmatchid] = -force_magnitude
-    # TODO(thowell): netforce
+    # check match of sensor objects with contact objects
+    match11 = _check_match(body_parentid, body1, geom1, objtype, objid)
+    match12 = _check_match(body_parentid, body2, geom2, objtype, objid)
+    match21 = _check_match(body_parentid, body1, geom1, reftype, refid)
+    match22 = _check_match(body_parentid, body2, geom2, reftype, refid)
 
-    # contact direction
-    if geom1geom0:
-      sensor_contact_direction_out[worldid, contactsensorid, contactmatchid] = -1.0
-    else:
-      sensor_contact_direction_out[worldid, contactsensorid, contactmatchid] = 1.0
+    # if a sensor object is specified, it must be involved in the contact
+    if not match11 and not match12:
+      return
+    if not match21 and not match22:
+      return
 
+    # determine direction
+    dir = 1.0
+    if objtype != int(ObjType.UNKNOWN.value) and reftype != int(ObjType.UNKNOWN.value):
+      # both obj1 and obj2 specified: direction depends on order
+      order_regular = match11 and match22
+      order_reverse = match12 and match21
+      if not order_regular and not order_reverse:
+        return
+      if order_reverse and not order_regular:
+        dir = -1.0
+    elif objtype != int(ObjType.UNKNOWN.value):
+      if not match11:
+        dir = -1.0
+    elif reftype != int(ObjType.UNKNOWN.value):
+      if not match22:
+        dir = -1.0
+
+  contactmatchid = wp.atomic_add(sensor_contact_nmatch_out[worldid], contactsensorid, 1)
+
+  if contactmatchid >= opt_contact_sensor_maxmatch:
+    # TODO(team): alternative to wp.printf for reporting overflow?
+    wp.printf("contact match overflow: please increase Option.contact_sensor_maxmatch to %u\n", contactmatchid)
     return
 
-  # TODO(thowell): alternative matching
+  sensor_contact_matchid_out[worldid, contactsensorid, contactmatchid] = contactid
+
+  if reduce == 1:  # mindist
+    sensor_contact_criteria_out[worldid, contactsensorid, contactmatchid] = contact_dist_in[contactid]
+  elif reduce == 2:  # maxforce
+    contact_force = support.contact_force_fn(
+      opt_cone,
+      njmax_in,
+      ncon_in,
+      contact_frame_in,
+      contact_friction_in,
+      contact_dim_in,
+      contact_efc_address_in,
+      efc_force_in,
+      worldid,
+      contactid,
+      False,
+    )
+    force_magnitude = (
+      contact_force[0] * contact_force[0] + contact_force[1] * contact_force[1] + contact_force[2] * contact_force[2]
+    )
+    sensor_contact_criteria_out[worldid, contactsensorid, contactmatchid] = -force_magnitude
+
+  # contact direction
+  sensor_contact_direction_out[worldid, contactsensorid, contactmatchid] = dir
 
 
-@wp.kernel
-def _contact_sort(
-  # Data in:
-  sensor_contact_nmatch_in: wp.array2d(dtype=int),
-  sensor_contact_matchid_in: wp.array3d(dtype=int),
-  sensor_contact_criteria_in: wp.array3d(dtype=float),
-  # Data out:
-  sensor_contact_matchid_out: wp.array3d(dtype=int),
-):
-  worldid, contactsensorid = wp.tid()
+def _contact_sort(maxmatch: int):
+  @nested_kernel(module="unique", enable_backward=False)
+  def contact_sort(
+    # Model:
+    sensor_intprm: wp.array2d(dtype=int),
+    sensor_contact_adr: wp.array(dtype=int),
+    # Data in:
+    sensor_contact_nmatch_in: wp.array2d(dtype=int),
+    sensor_contact_matchid_in: wp.array3d(dtype=int),
+    sensor_contact_criteria_in: wp.array3d(dtype=float),
+    # Data out:
+    sensor_contact_matchid_out: wp.array3d(dtype=int),
+  ):
+    worldid, contactsensorid = wp.tid()
 
-  nmatch = sensor_contact_nmatch_in[worldid, contactsensorid]
+    worldid, contactsensorid = wp.tid()
+    sensorid = sensor_contact_adr[contactsensorid]
 
-  # skip sort
-  if nmatch <= 1:
-    return
+    reduce = sensor_intprm[sensorid, 1]
+    if reduce == 0 or reduce == 3:  # none or netforce
+      return
 
-  criteria_tile = wp.tile_load(sensor_contact_criteria_in[worldid, contactsensorid], shape=MJ_MAXCONPAIR)
-  matchid_tile = wp.tile_load(sensor_contact_matchid_in[worldid, contactsensorid], shape=MJ_MAXCONPAIR)
-  wp.tile_sort(criteria_tile, matchid_tile)
-  wp.tile_store(sensor_contact_matchid_out[worldid, contactsensorid], matchid_tile)
+    nmatch = sensor_contact_nmatch_in[worldid, contactsensorid]
+
+    # skip sort
+    if nmatch <= 1:
+      return
+
+    criteria_tile = wp.tile_load(sensor_contact_criteria_in[worldid, contactsensorid], shape=maxmatch)
+    matchid_tile = wp.tile_load(sensor_contact_matchid_in[worldid, contactsensorid], shape=maxmatch)
+    wp.tile_sort(criteria_tile, matchid_tile)
+    wp.tile_store(sensor_contact_matchid_out[worldid, contactsensorid], matchid_tile)
+
+  return contact_sort
 
 
 @event_scope
@@ -2031,12 +2231,17 @@ def sensor_acc(m: Model, d: Data):
     inputs=[
       m.body_rootid,
       m.body_weldid,
+      m.geom_type,
       m.geom_bodyid,
+      m.geom_size,
       m.mesh_vertadr,
       m.mesh_vert,
       m.mesh_normaladr,
       m.mesh_normal,
       m.mesh_quat,
+      m.oct_aabb,
+      m.oct_child,
+      m.oct_coeff,
       m.sensor_objid,
       m.sensor_refid,
       m.sensor_dim,
@@ -2070,13 +2275,23 @@ def sensor_acc(m: Model, d: Data):
       dim=(m.sensor_contact_adr.size, d.nconmax),
       inputs=[
         m.opt.cone,
+        m.opt.contact_sensor_maxmatch,
+        m.body_parentid,
+        m.geom_bodyid,
+        m.site_type,
+        m.site_size,
+        m.sensor_objtype,
         m.sensor_objid,
+        m.sensor_reftype,
         m.sensor_refid,
         m.sensor_intprm,
         m.sensor_contact_adr,
         d.njmax,
         d.ncon,
+        d.site_xpos,
+        d.site_xmat,
         d.contact.dist,
+        d.contact.pos,
         d.contact.frame,
         d.contact.friction,
         d.contact.dim,
@@ -2095,9 +2310,11 @@ def sensor_acc(m: Model, d: Data):
 
     # sorting
     wp.launch_tiled(
-      _contact_sort,
+      _contact_sort(m.opt.contact_sensor_maxmatch),
       dim=(d.nworld, m.sensor_contact_adr.size),
       inputs=[
+        m.sensor_intprm,
+        m.sensor_contact_adr,
         d.sensor_contact_nmatch,
         d.sensor_contact_matchid,
         d.sensor_contact_criteria,
@@ -2370,7 +2587,7 @@ def energy_pos(m: Model, d: Data):
       _energy_pos_gravity, dim=(d.nworld, m.nbody - 1), inputs=[m.opt.gravity, m.body_mass, d.xipos], outputs=[d.energy]
     )
 
-  if not m.opt.disableflags & DisableBit.SPRING:
+  if not m.opt.disableflags & (DisableBit.SPRING | DisableBit.DAMPER):
     # add joint-level springs
     wp.launch(
       _energy_pos_passive_joint,
@@ -2403,7 +2620,7 @@ def energy_pos(m: Model, d: Data):
 
 @cache_kernel
 def _energy_vel_kinetic(nv: int):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def energy_vel_kinetic(
     # Data in:
     qvel_in: wp.array2d(dtype=float),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor_test.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor_test.py
index 96dcdda0..9c5f5181 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor_test.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor_test.py
@@ -409,7 +409,6 @@ class SensorTest(parameterized.TestCase):
     _assert_eq(d.energy.numpy()[0][1], mjd.energy[1], "kinetic energy")
 
   @parameterized.parameters(
-    'type="sphere" size=".1"',
     'type="capsule" size=".1 .1" euler="0 89 89"',
     'type="box" size=".1 .11 .12" euler=".02 .05 .1"',
   )
@@ -422,33 +421,40 @@ class SensorTest(parameterized.TestCase):
     datas = ["found", "force dist normal", "torque pos tangent", "found force torque dist pos normal tangent"]
 
     for geoms in [
+      'geom2="plane"',
       'geom1="plane" geom2="geom"',
       'geom1="geom" geom2="plane"',
-      'geom1="sphere" geom2="plane"',
-      'geom1="geom" geom2="sphere"',
+      'body1="plane"',
+      'body1="plane" body2="geom"',
+      'body1="geom" body2="plane"',
     ]:
-      for num in [1, 3, 5]:
-        for reduce in ["mindist", "maxforce"]:
+      for num in [1, 5]:
+        for reduce in [None, "mindist", "maxforce"]:
           for data in datas:
-            contact_sensor += f'<contact {geoms} num="{num}" reduce="{reduce}" data="{data}"/>'
+            contact_sensor += f'<contact {geoms} num="{num}"'
+            if reduce is not None:
+              contact_sensor += f' reduce="{reduce}"'
+            contact_sensor += f' data="{data}"/>'
 
     _MJCF = f"""
     <mujoco>
       <compiler angle="degree"/>
       <option cone="pyramidal"/>
       <worldbody>
-        <geom name="plane" type="plane" size="10 10 .001"/>
-        <body>
+        <body name="plane">
+          <geom name="plane" type="plane" size="10 10 .001"/>
+        </body>
+        <body name="geom">
           <geom name="geom" {geom}/>
           <joint type="slide" axis="0 0 1"/>
         </body>
-        <body>
+        <body name="sphere">
           <geom name="sphere" type="sphere" size=".1"/>
           <joint type="slide" axis="0 0 1"/>
         </body>
       </worldbody>
       <keyframe>
-        <key qpos=".09 1"/>
+        <key qpos=".08 1"/>
       </keyframe>
       <sensor>
         {contact_sensor}
@@ -461,6 +467,143 @@ class SensorTest(parameterized.TestCase):
     d.sensordata.zero_()
     mjwarp.forward(m, d)
 
+    print(f"ncon: {d.ncon.numpy()}")
+
+    sensordata = d.sensordata.numpy()[0]
+    _assert_eq(sensordata, mjd.sensordata, "sensordata")
+    self.assertTrue(sensordata.any())  # check that sensordata is not empty
+
+  def test_contact_sensor_subtree(self):
+    """Test contact sensor with subtree matching semantics."""
+    _MJCF = f"""
+    <mujoco>
+      <worldbody>
+        <geom type="plane" size="2 2 .01"/>
+        <body name="thigh" pos="-1 0 .1">
+          <joint type="slide"/>
+          <geom type="capsule" size=".1" fromto="0 0 0 .5 0 0"/>
+          <body name="shin" pos=".7 0 0">
+            <joint axis="0 1 0"/>
+            <geom type="capsule" size=".1" fromto="0 0 0 0 0 .5"/>
+            <body name="foot" pos="0 0 .7">
+              <joint axis="0 1 0"/>
+              <geom type="capsule" size=".1" fromto="0 0 0 -.7 0 0"/>
+            </body>
+          </body>
+        </body>
+      </worldbody>
+      <sensor>
+        <contact name="all" reduce="mindist"/>
+        <contact name="world" subtree1="world" reduce="mindist"/>
+        <contact name="thigh" subtree1="thigh" reduce="mindist"/>
+        <contact name="shin" subtree1="shin" reduce="mindist"/>
+        <contact name="foot" subtree1="foot" reduce="mindist"/>
+        <contact name="foot_w" subtree1="foot" body2="world" reduce="mindist"/>
+        <contact name="foot_w2" subtree1="foot" subtree2="world" reduce="mindist"/>
+      </sensor>
+      <keyframe>
+        <key qpos="-6.96651e-05 -0.0478055 -0.746498"/>
+      </keyframe>
+    </mujoco>
+    """
+    _, _, m, d = test_util.fixture(xml=_MJCF, nconmax=12, njmax=48, keyframe=0)
+
+    d.sensordata.zero_()
+    mjwarp.forward(m, d)
+
+    _assert_eq(d.sensordata.numpy()[0], np.array([4, 4, 4, 2, 1, 0, 1]), "found")
+
+  def test_contact_sensor_subtree_found_zero(self):
+    """Test contact sensor with subtree matching semantics generates found=0."""
+    _MJCF = f"""
+    <mujoco>
+      <worldbody>
+        <geom type="plane" size="2 2 .01"/>
+        <body name="base">
+          <joint type="slide" axis="1 0 0"/>
+          <joint type="slide" axis="0 0 1"/>
+          <geom type="capsule" size=".1" fromto="0 0 0 1 0 0"/>
+          <body name="body0">
+            <joint axis="0 1 0"/>
+            <geom type="capsule" size=".1" fromto="0 0 0 0 0 -1"/>
+          </body>
+          <body name="body1" pos="1 0 0">
+            <joint axis="0 1 0"/>
+            <geom type="capsule" size=".1" fromto="0 0 0 0 0 -1"/>
+          </body>
+        </body>
+      </worldbody>
+      <sensor>
+        <contact subtree1="base" subtree2="base"/>
+      </sensor>
+      <keyframe>
+        <key qpos="0 1 0 0"/>
+      </keyframe>
+    </mujoco>
+    """
+    _, _, m, d = test_util.fixture(xml=_MJCF, nconmax=2, njmax=8, keyframe=0)
+
+    d.sensordata.fill_(wp.inf)
+    mjwarp.forward(m, d)
+
+    _assert_eq(d.ncon.numpy()[0], 2, "ncon")
+    _assert_eq(d.sensordata.numpy()[0], 0, "found")
+
+  @parameterized.product(site_geom=["sphere", "capsule", "ellipsoid", "cylinder", "box"], key_pos=["0 0 10", "0 0 .09"])
+  def test_contact_sensor_site(self, site_geom, key_pos):
+    _, mjd, m, d = test_util.fixture(
+      xml=f"""
+    <mujoco>
+      <worldbody>
+        <geom type="plane" size="10 10 .001"/>
+        <site name="site" type="{site_geom}" size=".1 .2 .3"/>
+        <body>
+          <geom type="sphere" size=".1"/>
+          <freejoint/>
+        </body>
+      </worldbody>
+      <sensor>
+        <contact site="site" reduce="mindist"/>
+      </sensor>
+      <keyframe>
+        <key qpos="{key_pos} 1 0 0 0"/>
+      </keyframe>
+    </mujoco>
+    """,
+      keyframe=0,
+    )
+
+    d.sensordata.zero_()
+    mjwarp.forward(m, d)
+
+    _assert_eq(d.sensordata.numpy()[0], mjd.sensordata, "sensordata")
+
+  def test_contact_sensor_netforce(self):
+    """Test contact sensor with netforce reduction."""
+    _, mjd, m, d = test_util.fixture(
+      xml="""
+    <mujoco>
+      <worldbody>
+        <geom name="plane" type="plane" size="10 10 .001"/>
+        <body>
+          <geom name="box" type="box" size=".1 .1 .1"/>
+          <freejoint/>
+        </body>
+      </worldbody>
+      <sensor>
+        <contact geom1="plane" geom2="box" data="found force torque dist pos normal tangent" reduce="netforce" num="2"/>
+        <contact geom1="box" geom2="plane" data="force torque" reduce="netforce"/>
+      </sensor>
+      <keyframe>
+        <key qpos="0 0 .09 1 0 0 0"/>
+      </keyframe>
+    </mujoco>
+    """,
+      keyframe=0,
+    )
+
+    d.sensordata.zero_()
+    mjwarp.forward(m, d)
     sensordata = d.sensordata.numpy()[0]
     _assert_eq(sensordata, mjd.sensordata, "sensordata")
     self.assertTrue(sensordata.any())  # check that sensordata is not empty
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py
index b5b55024..fbefd9d5 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/smooth.py
@@ -921,7 +921,7 @@ def _factor_i_sparse(m: Model, d: Data, M: wp.array3d(dtype=float), L: wp.array3
 def _tile_cholesky_factorize(tile: TileSet):
   """Returns a kernel for dense Cholesky factorization of a tile."""
 
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def cholesky_factorize(
     # Data In:
     qM_in: wp.array3d(dtype=float),
@@ -2362,7 +2362,7 @@ def _solve_LD_sparse(
 def _tile_cholesky_solve(tile: TileSet):
   """Returns a kernel for dense Cholesky backsubstitution of a tile."""
 
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def cholesky_solve(
     # In:
     L: wp.array3d(dtype=float),
@@ -2441,7 +2441,7 @@ def solve_m(m: Model, d: Data, x: wp.array2d(dtype=float), y: wp.array2d(dtype=f
 def _tile_cholesky_factorize_solve(tile: TileSet):
   """Returns a kernel for dense Cholesky factorization and backsubstitution of a tile."""
 
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def cholesky_factorize_solve(
     # In:
     M: wp.array3d(dtype=float),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py
index 529f4939..d2583934 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/solver.py
@@ -702,7 +702,7 @@ def linesearch_zero_jv(
 
 @cache_kernel
 def linesearch_jv_fused(nv: int, dofs_per_thread: int):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Data in:
     nefc_in: wp.array(dtype=int),
@@ -1211,7 +1211,7 @@ def update_constraint_init_qfrc_constraint(
 
 @cache_kernel
 def update_constraint_gauss_cost(nv: int, dofs_per_thread: int):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Data in:
     qacc_in: wp.array2d(dtype=float),
@@ -1603,7 +1603,7 @@ def update_gradient_JTCJ(
 
 @cache_kernel
 def update_gradient_cholesky(tile_size: int):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Data in:
     efc_grad_in: wp.array2d(dtype=float),
@@ -1629,7 +1629,7 @@ def update_gradient_cholesky(tile_size: int):
 
 @cache_kernel
 def update_gradient_cholesky_blocked(tile_size: int):
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Data in:
     efc_grad_in: wp.array3d(dtype=float),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py
index 1018a6b5..4302e629 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/support.py
@@ -86,7 +86,7 @@ def mul_m_sparse_ij(
 def mul_m_dense(tile: TileSet):
   """Returns a matmul kernel for some tile size"""
 
-  @nested_kernel
+  @nested_kernel(module="unique", enable_backward=False)
   def kernel(
     # Data In:
     qM_in: wp.array3d(dtype=float),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/test_util.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/test_util.py
index 9ab24dd5..72a16659 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/test_util.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/test_util.py
@@ -28,6 +28,7 @@ from etils import epath
 from mujoco.mjx.third_party.mujoco_warp._src import forward
 from mujoco.mjx.third_party.mujoco_warp._src import io
 from mujoco.mjx.third_party.mujoco_warp._src import warp_util
+from mujoco.mjx.third_party.mujoco_warp._src.types import BroadphaseType
 from mujoco.mjx.third_party.mujoco_warp._src.types import ConeType
 from mujoco.mjx.third_party.mujoco_warp._src.types import Data
 from mujoco.mjx.third_party.mujoco_warp._src.types import DisableBit
@@ -62,6 +63,7 @@ def fixture(
   ls_iterations: Optional[int] = None,
   ls_parallel: Optional[bool] = None,
   sparse: Optional[bool] = None,
+  broadphase: Optional[BroadphaseType] = None,
   disableflags: Optional[int] = None,
   enableflags: Optional[int] = None,
   applied: bool = False,
@@ -153,11 +155,51 @@ def fixture(
   m = io.put_model(mjm)
   if ls_parallel is not None:
     m.opt.ls_parallel = ls_parallel
+  if broadphase is not None:
+    m.opt.broadphase = broadphase
 
   d = io.put_data(mjm, mjd, nworld=nworld, nconmax=nconmax, njmax=njmax)
   return mjm, mjd, m, d
 
 
+def find_keys(model: mujoco.MjModel, keyname_prefix: str) -> list[int]:
+  """Finds keyframes that start with keyname_prefix."""
+  keys = []
+
+  for keyid in range(model.nkey):
+    name = mujoco.mj_id2name(model, mujoco.mjtObj.mjOBJ_KEY, keyid)
+    if name.startswith(keyname_prefix):
+      keys.append(keyid)
+
+  return keys
+
+
+def make_trajectory(model: mujoco.MjModel, keys: list[int]) -> np.ndarray:
+  """Make a ctrl trajectory with linear interpolation."""
+  ctrls = []
+  prev_ctrl_key = np.zeros(model.nu, dtype=np.float64)
+  prev_time, time = 0.0, 0.0
+
+  for key in keys:
+    ctrl_key, ctrl_time = model.key_ctrl[key], model.key_time[key]
+    if not ctrls and ctrl_time != 0.0:
+      raise ValueError("first keyframe must have time 0.0")
+    elif ctrls and ctrl_time <= prev_time:
+      raise ValueError("keyframes must be in time order")
+
+    while time < ctrl_time:
+      frac = (time - prev_time) / (ctrl_time - prev_time)
+      ctrls.append(prev_ctrl_key * (1 - frac) + ctrl_key * frac)
+      time += model.opt.timestep
+
+    ctrls.append(ctrl_key)
+    time += model.opt.timestep
+    prev_ctrl_key = ctrl_key
+    prev_time = time
+
+  return np.array(ctrls)
+
+
 def _sum(stack1, stack2):
   ret = {}
   for k in stack1:
@@ -174,6 +216,7 @@ def ctrl_noise(
   actuator_ctrllimited: wp.array(dtype=bool),
   actuator_ctrlrange: wp.array2d(dtype=wp.vec2),
   # In:
+  ctrl_center: wp.array1d(dtype=float),
   step: int,
   ctrlnoise: float,
   # Data out:
@@ -184,7 +227,9 @@ def ctrl_noise(
   center = 0.0
   radius = 1.0
   ctrlrange = actuator_ctrlrange[0, actid]
-  if actuator_ctrllimited[actid]:
+  if ctrl_center.shape[0] > 0:
+    center = ctrl_center[actid]
+  elif actuator_ctrllimited[actid]:
     center = (ctrlrange[1] + ctrlrange[0]) / 2.0
     radius = (ctrlrange[1] - ctrlrange[0]) / 2.0
   radius *= ctrlnoise
@@ -197,6 +242,7 @@ def benchmark(
   m: Model,
   d: Data,
   nstep: int,
+  ctrls: Optional[np.ndarray] = None,
   event_trace: bool = False,
   measure_alloc: bool = False,
   measure_solver_niter: bool = False,
@@ -208,6 +254,8 @@ def benchmark(
     m (Model): The model containing kinematic and dynamic information (device).
     d (Data): The data object containing the current state and output information (device).
     nstep (int): Number of timesteps.
+    ctrls (list, optional): control sequence to apply during benchmarking.
+                            Default is None.
     event_trace (bool, optional): If True, time routines decorated with @event_scope.
                                   Default is False.
     measure_alloc (bool, optional): If True, record number of contacts and constraints.
@@ -226,6 +274,7 @@ def benchmark(
 
   trace = {}
   ncon, nefc, solver_niter = [], [], []
+  center = wp.array([], dtype=wp.float32)
 
   with warp_util.EventTracer(enabled=event_trace) as tracer:
     # capture the whole function as a CUDA graph
@@ -240,13 +289,14 @@ def benchmark(
     time_vec = np.zeros(nstep)
     for i in range(nstep):
       with wp.ScopedStream(wp.get_stream()):
+        if ctrls is not None:
+          center = wp.array(ctrls[i], dtype=wp.float32)
         wp.launch(
           ctrl_noise,
           dim=(d.nworld, m.nu),
-          inputs=[
-            m.actuator_ctrllimited, m.actuator_ctrlrange, i, 0.01
-          ],
-          outputs=[d.ctrl])  # fmt: skip
+          inputs=[m.actuator_ctrllimited, m.actuator_ctrlrange, center, i, 0.01],
+          outputs=[d.ctrl],
+        )
         wp.synchronize()
 
         run_beg = time.perf_counter()
@@ -312,12 +362,22 @@ class BenchmarkSuite:
   rounds = 1
   sample_time = 0
   repeat = 1
+  replay = ""
 
   def setup_cache(self):
     module = importlib.import_module(self.__module__)
     path = os.path.join(os.path.realpath(os.path.dirname(module.__file__)), self.path)
     mjm = mujoco.MjModel.from_xml_path(path)
     mjd = mujoco.MjData(mjm)
+    ctrls = None
+
+    if self.replay:
+      keys = find_keys(mjm, self.replay)
+      if not keys:
+        raise ValueError(f"Key prefix not find: {self.replay}")
+      ctrls = make_trajectory(mjm, keys)
+      mujoco.mj_resetDataKeyframe(mjm, mjd, keys[0])
+
     if mjm.nkey > 0:
       mujoco.mj_resetDataKeyframe(mjm, mjd, 0)
 
@@ -333,7 +393,7 @@ class BenchmarkSuite:
     d = io.put_data(mjm, mjd, self.batch_size, self.nconmax, self.njmax)
     free_after = wp.get_device().free_memory
 
-    jit_duration, _, trace, _, _, solver_niter, _ = benchmark(forward.step, m, d, 1000, True, False, True)
+    jit_duration, _, trace, _, _, solver_niter, _ = benchmark(forward.step, m, d, 1000, ctrls, True, False, True)
     metrics = {
       "jit_duration": jit_duration,
       "solver_niter_mean": np.mean(solver_niter),
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
index 47eb9be2..6c9c6ee6 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/types.py
@@ -522,6 +522,14 @@ class vec6f(wp.types.vector(length=6, dtype=float)):
   pass
 
 
+class vec8f(wp.types.vector(length=8, dtype=float)):
+  pass
+
+
+class vec8i(wp.types.vector(length=8, dtype=int)):
+  pass
+
+
 class vec10f(wp.types.vector(length=10, dtype=float)):
   pass
 
@@ -545,6 +553,7 @@ class Option:
     impratio: ratio of friction-to-normal contact impedance
     tolerance: main solver tolerance
     ls_tolerance: CG/Newton linesearch tolerance
+    ccd_tolerance: convex collision solver tolerance
     gravity: gravitational acceleration
     magnetic: global magnetic flux
     integrator: integration mode (IntegratorType)
@@ -572,12 +581,15 @@ class Option:
       contacts during the physics step (as opposed to DisableBit.CONTACT which explicitly
       zeros out the contacts at each step)
     legacy_gjk: run legacy gjk algorithm
+    contact_sensor_maxmatch: max number of contacts considered by contact sensor matching criteria
+                             contacts matched after this value is exceded will be ignored
   """
 
   timestep: wp.array(dtype=float)
   impratio: wp.array(dtype=float)
   tolerance: wp.array(dtype=float)
   ls_tolerance: wp.array(dtype=float)
+  ccd_tolerance: wp.array(dtype=float)
   gravity: wp.array(dtype=wp.vec3)
   magnetic: wp.array(dtype=wp.vec3)
   integrator: int
@@ -603,6 +615,7 @@ class Option:
   sdf_iterations: int
   run_collision_detection: bool  # warp only
   legacy_gjk: bool
+  contact_sensor_maxmatch: int  # warp only
 
 
 @dataclasses.dataclass
@@ -885,6 +898,9 @@ class Model:
     mesh_polymapadr: first polygon address per vertex        (nmeshvert,)
     mesh_polymapnum: number of polygons per vertex           (nmeshvert,)
     mesh_polymap: vertex to polygon map                      (nmeshpolymap,)
+    oct_aabb: octree axis-aligned bounding boxes             (noct, 6)
+    oct_child: octree children                               (noct, 8)
+    oct_coeff: octree interpolation coefficients             (noct, 8)
     eq_type: constraint type (EqType)                        (neq,)
     eq_obj1id: id of object 1                                (neq,)
     eq_obj2id: id of object 2                                (neq,)
@@ -1010,8 +1026,6 @@ class Model:
     mat_rgba: rgba                                           (nworld, nmat, 4)
     actuator_trntype_body_adr: addresses for actuators       (<=nu,)
                                with body transmission
-    geompair2hfgeompair: geom pair to geom pair with         (ngeom * (ngeom - 1) // 2,)
-                         height field mapping
     block_dim: BlockDim
     geom_pair_type_count: count of max number of each potential collision
     has_sdf_geom: whether the model contains SDF geoms
@@ -1208,6 +1222,9 @@ class Model:
   mesh_polymapadr: wp.array(dtype=int)
   mesh_polymapnum: wp.array(dtype=int)
   mesh_polymap: wp.array(dtype=int)
+  oct_aabb: wp.array2d(dtype=wp.vec3)
+  oct_child: wp.array(dtype=vec8i)
+  oct_coeff: wp.array(dtype=vec8f)
   eq_type: wp.array(dtype=int)
   eq_obj1id: wp.array(dtype=int)
   eq_obj2id: wp.array(dtype=int)
@@ -1326,7 +1343,6 @@ class Model:
   mat_texrepeat: wp.array2d(dtype=wp.vec2)
   mat_rgba: wp.array2d(dtype=wp.vec4)
   actuator_trntype_body_adr: wp.array(dtype=int)  # warp only
-  geompair2hfgeompair: wp.array(dtype=int)  # warp only
   block_dim: BlockDim  # warp only
   geom_pair_type_count: tuple[int, ...]  # warp only
   has_sdf_geom: bool  # warp only
@@ -1377,8 +1393,6 @@ class Data:
     njmax: maximum number of constraints per world
     solver_niter: number of solver iterations                   (nworld,)
     ncon: number of detected contacts
-    ncon_world: number of detected contacts per world           (nworld,)
-    ncon_hfield: number of contacts per geom pair with hfield   (nworld, nhfieldgeompair)
     ne: number of equality constraints                          (nworld,)
     ne_connect: number of equality connect constraints          (nworld,)
     ne_weld: number of equality weld constraints                (nworld,)
@@ -1475,7 +1489,6 @@ class Data:
     sap_segment_index: broadphase context (requires nworld + 1) (nworld, 2)
     dyn_geom_aabb: dynamic geometry axis-aligned bounding boxes (nworld, ngeom, 2)
     collision_pair: collision pairs from broadphase             (nconmax,)
-    collision_hftri_index: collision index for hfield pairs     (nconmax,)
     collision_worldid: collision world ids from broadphase      (nconmax,)
     ncollision: collision count from broadphase
     epa_vert: vertices in EPA polytope in Minkowski space       (nconmax, 5 + CCDiter)
@@ -1489,6 +1502,17 @@ class Data:
     epa_index: index of face in polytope map                    (nconmax, 6 + 6 * CCDiter)
     epa_map: status of faces in polytope                        (nconmax, 6 + 6 * CCDiter)
     epa_horizon: index pair (i j) of edges on horizon           (nconmax, 3 * 2 * CCDiter)
+    multiccd_polygon: clipped contact surface                   (nconmax, 2 * max_npolygon)
+    multiccd_clipped: clipped contact surface (intermediate)    (nconmax, 2 * max_npolygon)
+    multiccd_pnormal: plane normal of clipping polygon          (nconmax, max_npolygon)
+    multiccd_pdist: plane distance of clipping polygon          (nconmax, max_npolygon)
+    multiccd_idx1: list of normal index candidates for Geom 1   (nconmax, max_meshdegree)
+    multiccd_idx2: list of normal index candidates for Geom 2   (nconmax, max_meshdegree)
+    multiccd_n1: list of normal candidates for Geom 1           (nconmax, max_meshdegree)
+    multiccd_n2: list of normal candidates for Geom 1           (nconmax, max_meshdegree)
+    multiccd_endvert: list of edge vertices candidates          (nconmax, max_meshdegree)
+    multiccd_face1: contact face                                (nconmax, max_npolygon)
+    multiccd_face2: contact face                                (nconmax, max_npolygon)
     cacc: com-based acceleration                                (nworld, nbody, 6)
     cfrc_int: com-based interaction force with parent           (nworld, nbody, 6)
     cfrc_ext: com-based external force on body                  (nworld, nbody, 6)
@@ -1524,8 +1548,6 @@ class Data:
   njmax: int  # warp only
   solver_niter: wp.array(dtype=int)
   ncon: wp.array(dtype=int)
-  ncon_world: wp.array(dtype=int)  # warp only
-  ncon_hfield: wp.array2d(dtype=int)  # warp only
   ne: wp.array(dtype=int)
   ne_connect: wp.array(dtype=int)  # warp only
   ne_weld: wp.array(dtype=int)  # warp only
@@ -1627,7 +1649,6 @@ class Data:
 
   # collision driver
   collision_pair: wp.array(dtype=wp.vec2i)
-  collision_hftri_index: wp.array(dtype=int)
   collision_pairid: wp.array(dtype=int)
   collision_worldid: wp.array(dtype=int)
   ncollision: wp.array(dtype=int)
@@ -1645,6 +1666,19 @@ class Data:
   epa_map: wp.array2d(dtype=int)
   epa_horizon: wp.array2d(dtype=int)
 
+  # narrowphase collision (multicontact)
+  multiccd_polygon: wp.array2d(dtype=wp.vec3)
+  multiccd_clipped: wp.array2d(dtype=wp.vec3)
+  multiccd_pnormal: wp.array2d(dtype=wp.vec3)
+  multiccd_pdist: wp.array2d(dtype=float)
+  multiccd_idx1: wp.array2d(dtype=int)
+  multiccd_idx2: wp.array2d(dtype=int)
+  multiccd_n1: wp.array2d(dtype=wp.vec3)
+  multiccd_n2: wp.array2d(dtype=wp.vec3)
+  multiccd_endvert: wp.array2d(dtype=wp.vec3)
+  multiccd_face1: wp.array2d(dtype=wp.vec3)
+  multiccd_face2: wp.array2d(dtype=wp.vec3)
+
   # rne_postconstraint
   cacc: wp.array2d(dtype=wp.spatial_vector)
   cfrc_int: wp.array2d(dtype=wp.spatial_vector)
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py
index 04c43001..17424f26 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/_src/util_misc.py
@@ -21,6 +21,7 @@ import warp as wp
 
 from mujoco.mjx.third_party.mujoco_warp._src import math
 from mujoco.mjx.third_party.mujoco_warp._src.types import MJ_MINVAL
+from mujoco.mjx.third_party.mujoco_warp._src.types import GeomType
 from mujoco.mjx.third_party.mujoco_warp._src.types import WrapType
 from mujoco.mjx.third_party.mujoco_warp._src.types import vec10
 
@@ -601,3 +602,36 @@ def muscle_dynamics(control: float, activation: float, prm: vec10) -> float:
 
   # filter output
   return dctrl / wp.max(MJ_MINVAL, tau)
+
+
+@wp.func
+def inside_geom(pos: wp.vec3, mat: wp.mat33, size: wp.vec3, geomtype: int, point: wp.vec3) -> bool:
+  """Return True if point is inside primitive geom, False otherwise."""
+  # vector from geom to point
+  vec = point - pos
+
+  # quick return for spheres, frame rotation not required
+  if geomtype == int(GeomType.SPHERE.value):
+    return wp.dot(vec, vec) < size[0] * size[0]
+
+  # rotate into local frame
+  plocal = wp.transpose(mat) @ vec
+
+  # handle other geom types
+  if geomtype == int(GeomType.CAPSULE.value):
+    z = plocal[2]
+    z_clamped = wp.clamp(z, -size[1], size[1])
+    z_dif = z - z_clamped
+    z_dist_sq = z_dif * z_dif
+    return plocal[0] * plocal[0] + plocal[1] * plocal[1] + z_dist_sq < size[0] * size[0]
+  elif geomtype == int(GeomType.ELLIPSOID.value):
+    plocalsize = wp.cw_div(plocal, size)
+    return wp.dot(plocalsize, plocalsize) < 1.0
+  elif geomtype == int(GeomType.CYLINDER.value):
+    return (wp.abs(plocal[2]) < size[1]) and (plocal[0] * plocal[0] + plocal[1] * plocal[1] < size[0] * size[0])
+  elif geomtype == int(GeomType.BOX.value):
+    return wp.abs(plocal[0]) < size[0] and wp.abs(plocal[1]) < size[1] and wp.abs(plocal[2]) < size[2]
+  elif geomtype == int(GeomType.PLANE.value):
+    return plocal[2] < 0.0
+
+  return False
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/README.md b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/README.md
new file mode 100644
index 00000000..b558004f
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/README.md
@@ -0,0 +1,2 @@
+The spot assets were taken from https://www.cs.cmu.edu/~kmcrane/Projects/ModelRepository/ and are
+released under the CC0 1.0 Universal (CC0 1.0) Public Domain Dedication license.
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/die.obj b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/die.obj
new file mode 100644
index 00000000..91964032
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/die.obj
@@ -0,0 +1,296 @@
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diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/spot.obj b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/spot.obj
new file mode 100644
index 00000000..87ecce51
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/spot.obj
@@ -0,0 +1,12011 @@
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diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/spot.png b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/spot.png
new file mode 100644
index 00000000..63094487
Binary files /dev/null and b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/asset/spot.png differ
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/cow.xml b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/cow.xml
new file mode 100644
index 00000000..3514a7dd
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/cow.xml
@@ -0,0 +1,53 @@
+<mujoco>
+  <compiler texturedir="asset"/>
+
+  <extension>
+    <plugin plugin="mujoco.sdf.torus">
+      <instance name="torus">
+        <config key="radius1" value="0.15"/>
+        <config key="radius2" value="0.05"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <asset>
+    <texture name="texspot" type="2d" file="spot.png"/>
+    <material name="matspot" texture="texspot"/>
+    <mesh name="spot" file="asset/spot.obj"/>
+    <mesh name="torus">
+      <plugin instance="torus"/>
+    </mesh>
+  </asset>
+
+  <option sdf_iterations="10" sdf_initpoints="40"/>
+
+  <visual>
+    <map force="1000"/>
+  </visual>
+
+  <default>
+    <geom solref="0.01 1" solimp=".95 .99 .0001" friction="0.5"/>
+  </default>
+
+  <statistic meansize="0.2"/>
+
+  <include file="scene.xml"/>
+
+  <worldbody>
+    <body pos="0.1 .25 5.7">
+      <freejoint/>
+      <geom type="sdf" mesh="torus" rgba=".2 .8 .2 1">
+        <plugin instance="torus"/>
+      </geom>
+    </body>
+    <body euler="90 0 0" pos="0 0 .7">
+      <geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
+    </body>
+    <body pos="0.05 .25 2.2">
+      <freejoint/>
+      <geom type="sdf" name="cow2" mesh="spot" material="matspot"/>
+    </body>
+    <light name="left" pos="0 0 1"/>
+    <light name="right" pos="1 0 1"/>
+  </worldbody>
+</mujoco>
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/mesh.xml b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/mesh.xml
new file mode 100644
index 00000000..2e41f044
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/mesh.xml
@@ -0,0 +1,34 @@
+<mujoco>
+  <extension>
+    <plugin plugin="mujoco.sdf.torus">
+      <instance name="torus">
+        <config key="radius1" value="0.35"/>
+        <config key="radius2" value="0.15"/>
+      </instance>
+    </plugin>
+  </extension>
+
+  <option gravity="0 0 -9.81" sdf_iterations="3" sdf_initpoints="10"/>
+  <asset>
+    <mesh name="torus">
+      <plugin instance="torus"/>
+    </mesh>
+    <mesh name="die" file="asset/die.obj" scale="1 1 1"/>
+  </asset>
+
+  <include file="scene.xml"/>
+
+  <worldbody>
+    <body pos="0 .05 2.5" euler="90 0 0">
+      <freejoint/>
+      <geom type="sdf" mesh="torus" rgba=".8 .17 .15 1" group="1">
+        <plugin instance="torus"/>
+      </geom>
+    </body>
+    <body>
+      <geom type="mesh" mesh="die" euler="90 0 0" rgba="0 0 1 .2"/>
+    </body>
+    <light pos="1 0 7" dir="0 0 -1" castshadow="false"/>
+    <light pos="-1 0 7" dir="0 0 -1" castshadow="false"/>
+  </worldbody>
+</mujoco>
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/torus.py b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/torus.py
new file mode 100644
index 00000000..2cc05e89
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/torus.py
@@ -0,0 +1,34 @@
+import math
+
+import warp as wp
+
+
+@wp.func
+def torus(p: wp.vec3, attr: wp.vec3) -> wp.float32:
+  major_radius = attr[0]
+  minor_radius = attr[1]
+
+  q = math.sqrt(p[0] * p[0] + p[1] * p[1]) - major_radius
+  sdf = math.sqrt(q * q + p[2] * p[2]) - minor_radius
+  return sdf
+
+
+@wp.func
+def torus_sdf_grad(p: wp.vec3, attr: wp.vec3) -> wp.vec3:
+  grad = wp.vec3()
+  major_radius = attr[0]
+  minor_val = attr[1]
+
+  len_xy = math.sqrt(p[0] * p[0] + p[1] * p[1])
+  q = len_xy - major_radius
+  len_xy = wp.max(len_xy, 1e-8)
+  grad_q_x = p[0] / len_xy
+  grad_q_y = p[1] / len_xy
+  len_qz = math.sqrt(q * q + p[2] * p[2])
+  denom = wp.max(len_qz, wp.max(minor_val, 1e-8))
+
+  grad[0] = q * grad_q_x / denom
+  grad[1] = q * grad_q_y / denom
+  grad[2] = p[2] / denom
+
+  return grad
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/torus.xml b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/torus.xml
new file mode 100644
index 00000000..bca301b0
--- /dev/null
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/torus.xml
@@ -0,0 +1,8 @@
+<mujoco>
+  <asset>
+    <mesh file="torus.obj"/>
+  </asset>
+  <worldbody>
+    <geom type="mesh" mesh="torus"/>
+  </worldbody>
+</mujoco>
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/utils.py b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/utils.py
index 5526dff9..415d3258 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/utils.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/test_data/collision_sdf/utils.py
@@ -26,6 +26,8 @@ from .gear import gear
 from .gear import gear_sdf_grad
 from .nut import nut
 from .nut import nut_sdf_grad
+from .torus import torus
+from .torus import torus_sdf_grad
 
 
 class SDFType(enum.Enum):
@@ -33,6 +35,7 @@ class SDFType(enum.Enum):
 
   NUT = "NUT"
   BOLT = "BOLT"
+  TORUS = "TORUS"
   GEAR = "GEAR"
 
 
@@ -41,16 +44,19 @@ def register_sdf_plugins(mjwarp) -> Dict[str, int]:
         <extension>
         <plugin plugin="mujoco.sdf.nut"><instance name="n"/></plugin>
         <plugin plugin="mujoco.sdf.bolt"><instance name="b"/></plugin>
+        <plugin plugin="mujoco.sdf.torus"><instance name="t"/></plugin>
         <plugin plugin="mujoco.sdf.gear"><instance name="g"/></plugin>
         </extension>
         <asset>
         <mesh name="nm"><plugin instance="n"/></mesh>
         <mesh name="bm"><plugin instance="b"/></mesh>
+        <mesh name="tm"><plugin instance="t"/></mesh>
         <mesh name="gm"><plugin instance="g"/></mesh>
         </asset>
         <worldbody>
         <body><geom type="sdf" name="ng" mesh="nm"><plugin instance="n"/></geom></body>
         <body><geom type="sdf" name="bg" mesh="bm"><plugin instance="b"/></geom></body>
+        <body><geom type="sdf" name="tg" mesh="tm"><plugin instance="t"/></geom></body>
         <body><geom type="sdf" name="gg" mesh="gm"><plugin instance="g"/></geom></body>
         </worldbody>
         </mujoco>"""
@@ -68,6 +74,9 @@ def register_sdf_plugins(mjwarp) -> Dict[str, int]:
       sdf_types[SDFType.NUT.value] = int(m.plugin[i])
     elif name == "bg":
       sdf_types[SDFType.BOLT.value] = int(m.plugin[i])
+    elif name == "tg":
+      sdf_types[SDFType.TORUS.value] = int(m.plugin[i])
+
     elif name == "gg":
       sdf_types[SDFType.GEAR.value] = int(m.plugin[i])
 
@@ -78,6 +87,8 @@ def register_sdf_plugins(mjwarp) -> Dict[str, int]:
       result = nut(p, attr)
     elif sdf_type == wp.static(sdf_types[SDFType.BOLT.value]):
       result = bolt(p, attr)
+    elif sdf_type == wp.static(sdf_types[SDFType.TORUS.value]):
+      result = torus(p, attr)
     elif sdf_type == wp.static(sdf_types[SDFType.GEAR.value]):
       result = gear(p, attr)
     return result
@@ -88,6 +99,8 @@ def register_sdf_plugins(mjwarp) -> Dict[str, int]:
       return nut_sdf_grad(p, attr)
     elif sdf_type == wp.static(sdf_types[SDFType.BOLT.value]):
       return bolt_sdf_grad(p, attr)
+    elif sdf_type == wp.static(sdf_types[SDFType.TORUS.value]):
+      return torus_sdf_grad(p, attr)
     elif sdf_type == wp.static(sdf_types[SDFType.GEAR.value]):
       return gear_sdf_grad(p, attr)
     return wp.vec3()
diff --git a/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py b/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py
index 56b02e0f..3bf30602 100644
--- a/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py
+++ b/mjx/mujoco/mjx/third_party/mujoco_warp/viewer.py
@@ -22,9 +22,9 @@ Example:
 """
 
 import ast
+import copy
 import enum
 import logging
-import pickle
 import sys
 import time
 from typing import Sequence, Union
@@ -52,7 +52,7 @@ _NJMAX = flags.DEFINE_integer("njmax", None, "Maximum number of constraints per
 _OVERRIDE = flags.DEFINE_multi_string("override", [], "Model overrides (notation: foo.bar = baz)", short_name="o")
 _KEYFRAME = flags.DEFINE_integer("keyframe", 0, "keyframe to initialize simulation.")
 _DEVICE = flags.DEFINE_string("device", None, "override the default Warp device")
-
+_REPLAY = flags.DEFINE_string("replay", None, "keyframe sequence to replay, keyframe name must prefix match")
 
 _VIEWER_GLOBAL_STATE = {"running": True, "step_once": False}
 
@@ -120,12 +120,13 @@ def _override(model: Union[mjw.Model, mujoco.MjModel]):
 
 
 def _compile_step(m, d):
-  mjw.step(m, d)
-  # double warmup to work around issues with compilation during graph capture:
-  mjw.step(m, d)
+  print("Compiling physics step...", end="", flush=True)
+  start = time.time()
   # capture the whole step function as a CUDA graph
   with wp.ScopedCapture() as capture:
     mjw.step(m, d)
+  elapsed = time.time() - start
+  print(f"done ({elapsed:0.2g}s).")
   return capture.graph
 
 
@@ -138,7 +139,15 @@ def _main(argv: Sequence[str]) -> None:
 
   mjm = _load_model(epath.Path(argv[1]))
   mjd = mujoco.MjData(mjm)
-  if mjm.nkey > 0 and _KEYFRAME.value > -1:
+  ctrls = None
+  ctrlid = 0
+  if _REPLAY.value:
+    keys = mjw.test_util.find_keys(mjm, _REPLAY.value)
+    if not keys:
+      raise app.UsageError(f"Key prefix not find: {_REPLAY.value}")
+    ctrls = mjw.test_util.make_trajectory(mjm, keys)
+    mujoco.mj_resetDataKeyframe(mjm, mjd, keys[0])
+  elif mjm.nkey > 0 and _KEYFRAME.value > -1:
     mujoco.mj_resetDataKeyframe(mjm, mjd, _KEYFRAME.value)
   mujoco.mj_forward(mjm, mjd)
 
@@ -160,7 +169,6 @@ def _main(argv: Sequence[str]) -> None:
     with wp.ScopedDevice(_DEVICE.value):
       m = mjw.put_model(mjm)
       _override(m)
-      mjm_hash = pickle.dumps(mjm)
       broadphase, filter = mjw.BroadphaseType(m.opt.broadphase).name, mjw.BroadphaseFilter(m.opt.broadphase_filter).name
       solver, cone = mjw.SolverType(m.opt.solver).name, mjw.ConeType(m.opt.cone).name
       integrator = mjw.IntegratorType(m.opt.integrator).name
@@ -173,17 +181,19 @@ def _main(argv: Sequence[str]) -> None:
       )
       d = mjw.put_data(mjm, mjd, nconmax=_NCONMAX.value, njmax=_NJMAX.value)
       print(f"Data\n  nworld: {d.nworld} nconmax: {d.nconmax} njmax: {d.njmax}\n")
-      print("Compiling physics step...", end="")
-      start = time.time()
       graph = _compile_step(m, d)
-      elapsed = time.time() - start
-      print(f"done ({elapsed:0.2}s).")
       print(f"MuJoCo Warp simulating with dt = {m.opt.timestep.numpy()[0]:.3f}...")
 
   with mujoco.viewer.launch_passive(mjm, mjd, key_callback=key_callback) as viewer:
+    opt = copy.copy(mjm.opt)
+
     while True:
       start = time.time()
 
+      if ctrls is not None and ctrlid < len(ctrls):
+        mjd.ctrl[:] = ctrls[ctrlid]
+        ctrlid += 1
+
       if _ENGINE.value == EngineOptions.C:
         mujoco.mj_step(mjm, mjd)
       else:  # mjwarp
@@ -194,9 +204,9 @@ def _main(argv: Sequence[str]) -> None:
         wp.copy(d.qvel, wp.array([mjd.qvel.astype(np.float32)]))
         wp.copy(d.time, wp.array([mjd.time], dtype=wp.float32))
 
-        hash = pickle.dumps(mjm)
-        if hash != mjm_hash:
-          mjm_hash = hash
+        # if the user changed an option in the MuJoCo Simulate UI, go ahead and recompile the step
+        if mjm.opt != opt:
+          opt = copy.copy(mjm.opt)
           m = mjw.put_model(mjm)
           graph = _compile_step(m, d)
 
diff --git a/mjx/mujoco/mjx/warp/collision_driver.py b/mjx/mujoco/mjx/warp/collision_driver.py
index 0b90c028..1f89ad46 100644
--- a/mjx/mujoco/mjx/warp/collision_driver.py
+++ b/mjx/mujoco/mjx/warp/collision_driver.py
@@ -42,6 +42,7 @@ _e = mjwarp.Constraint(
     **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
 )
 
+
 @ffi.format_args_for_warp
 def _collision_shim(
     # Model
@@ -55,22 +56,21 @@ def _collision_shim(
     geom_margin: wp.array2d(dtype=float),
     geom_pair_type_count: tuple[int, ...],
     geom_plugin_index: wp.array(dtype=int),
-    geom_pos: wp.array2d(dtype=wp.vec3),
     geom_priority: wp.array(dtype=int),
-    geom_quat: wp.array2d(dtype=wp.quat),
     geom_rbound: wp.array2d(dtype=float),
     geom_size: wp.array2d(dtype=wp.vec3),
     geom_solimp: wp.array2d(dtype=mjwp_types.vec5),
     geom_solmix: wp.array2d(dtype=float),
     geom_solref: wp.array2d(dtype=wp.vec2),
     geom_type: wp.array(dtype=int),
-    geompair2hfgeompair: wp.array(dtype=int),
     has_sdf_geom: bool,
     hfield_adr: wp.array(dtype=int),
     hfield_data: wp.array(dtype=float),
     hfield_ncol: wp.array(dtype=int),
     hfield_nrow: wp.array(dtype=int),
     hfield_size: wp.array(dtype=wp.vec4),
+    mesh_face: wp.array(dtype=wp.vec3i),
+    mesh_faceadr: wp.array(dtype=int),
     mesh_graph: wp.array(dtype=int),
     mesh_graphadr: wp.array(dtype=int),
     mesh_polyadr: wp.array(dtype=int),
@@ -86,10 +86,13 @@ def _collision_shim(
     mesh_vertadr: wp.array(dtype=int),
     mesh_vertnum: wp.array(dtype=int),
     ngeom: int,
-    nhfield: int,
+    nmeshface: int,
     nxn_geom_pair_filtered: wp.array(dtype=wp.vec2i),
     nxn_pairid: wp.array(dtype=int),
     nxn_pairid_filtered: wp.array(dtype=int),
+    oct_aabb: wp.array2d(dtype=wp.vec3),
+    oct_child: wp.array(dtype=mjwp_types.vec8i),
+    oct_coeff: wp.array(dtype=mjwp_types.vec8f),
     pair_dim: wp.array(dtype=int),
     pair_friction: wp.array2d(dtype=mjwp_types.vec5),
     pair_gap: wp.array2d(dtype=float),
@@ -101,6 +104,7 @@ def _collision_shim(
     plugin_attr: wp.array(dtype=wp.vec3f),
     opt__broadphase: int,
     opt__broadphase_filter: int,
+    opt__ccd_tolerance: wp.array(dtype=float),
     opt__disableflags: int,
     opt__epa_iterations: int,
     opt__gjk_iterations: int,
@@ -110,7 +114,6 @@ def _collision_shim(
     opt__sdf_iterations: int,
     # Data
     nconmax: int,
-    collision_hftri_index: wp.array(dtype=int),
     collision_pair: wp.array(dtype=wp.vec2i),
     collision_pairid: wp.array(dtype=int),
     collision_worldid: wp.array(dtype=int),
@@ -127,9 +130,19 @@ def _collision_shim(
     epa_vert_index2: wp.array2d(dtype=int),
     geom_xmat: wp.array2d(dtype=wp.mat33),
     geom_xpos: wp.array2d(dtype=wp.vec3),
+    multiccd_clipped: wp.array2d(dtype=wp.vec3),
+    multiccd_endvert: wp.array2d(dtype=wp.vec3),
+    multiccd_face1: wp.array2d(dtype=wp.vec3),
+    multiccd_face2: wp.array2d(dtype=wp.vec3),
+    multiccd_idx1: wp.array2d(dtype=int),
+    multiccd_idx2: wp.array2d(dtype=int),
+    multiccd_n1: wp.array2d(dtype=wp.vec3),
+    multiccd_n2: wp.array2d(dtype=wp.vec3),
+    multiccd_pdist: wp.array2d(dtype=float),
+    multiccd_pnormal: wp.array2d(dtype=wp.vec3),
+    multiccd_polygon: wp.array2d(dtype=wp.vec3),
     ncollision: wp.array(dtype=int),
     ncon: wp.array(dtype=int),
-    ncon_hfield: wp.array2d(dtype=int),
     sap_cumulative_sum: wp.array2d(dtype=int),
     sap_projection_lower: wp.array3d(dtype=float),
     sap_projection_upper: wp.array2d(dtype=float),
@@ -161,22 +174,21 @@ def _collision_shim(
   _m.geom_margin = geom_margin
   _m.geom_pair_type_count = geom_pair_type_count
   _m.geom_plugin_index = geom_plugin_index
-  _m.geom_pos = geom_pos
   _m.geom_priority = geom_priority
-  _m.geom_quat = geom_quat
   _m.geom_rbound = geom_rbound
   _m.geom_size = geom_size
   _m.geom_solimp = geom_solimp
   _m.geom_solmix = geom_solmix
   _m.geom_solref = geom_solref
   _m.geom_type = geom_type
-  _m.geompair2hfgeompair = geompair2hfgeompair
   _m.has_sdf_geom = has_sdf_geom
   _m.hfield_adr = hfield_adr
   _m.hfield_data = hfield_data
   _m.hfield_ncol = hfield_ncol
   _m.hfield_nrow = hfield_nrow
   _m.hfield_size = hfield_size
+  _m.mesh_face = mesh_face
+  _m.mesh_faceadr = mesh_faceadr
   _m.mesh_graph = mesh_graph
   _m.mesh_graphadr = mesh_graphadr
   _m.mesh_polyadr = mesh_polyadr
@@ -192,12 +204,16 @@ def _collision_shim(
   _m.mesh_vertadr = mesh_vertadr
   _m.mesh_vertnum = mesh_vertnum
   _m.ngeom = ngeom
-  _m.nhfield = nhfield
+  _m.nmeshface = nmeshface
   _m.nxn_geom_pair_filtered = nxn_geom_pair_filtered
   _m.nxn_pairid = nxn_pairid
   _m.nxn_pairid_filtered = nxn_pairid_filtered
+  _m.oct_aabb = oct_aabb
+  _m.oct_child = oct_child
+  _m.oct_coeff = oct_coeff
   _m.opt.broadphase = opt__broadphase
   _m.opt.broadphase_filter = opt__broadphase_filter
+  _m.opt.ccd_tolerance = opt__ccd_tolerance
   _m.opt.disableflags = opt__disableflags
   _m.opt.epa_iterations = opt__epa_iterations
   _m.opt.gjk_iterations = opt__gjk_iterations
@@ -214,7 +230,6 @@ def _collision_shim(
   _m.pair_solreffriction = pair_solreffriction
   _m.plugin = plugin
   _m.plugin_attr = plugin_attr
-  _d.collision_hftri_index = collision_hftri_index
   _d.collision_pair = collision_pair
   _d.collision_pairid = collision_pairid
   _d.collision_worldid = collision_worldid
@@ -242,9 +257,19 @@ def _collision_shim(
   _d.epa_vert_index2 = epa_vert_index2
   _d.geom_xmat = geom_xmat
   _d.geom_xpos = geom_xpos
+  _d.multiccd_clipped = multiccd_clipped
+  _d.multiccd_endvert = multiccd_endvert
+  _d.multiccd_face1 = multiccd_face1
+  _d.multiccd_face2 = multiccd_face2
+  _d.multiccd_idx1 = multiccd_idx1
+  _d.multiccd_idx2 = multiccd_idx2
+  _d.multiccd_n1 = multiccd_n1
+  _d.multiccd_n2 = multiccd_n2
+  _d.multiccd_pdist = multiccd_pdist
+  _d.multiccd_pnormal = multiccd_pnormal
+  _d.multiccd_polygon = multiccd_polygon
   _d.ncollision = ncollision
   _d.ncon = ncon
-  _d.ncon_hfield = ncon_hfield
   _d.nconmax = nconmax
   _d.sap_cumulative_sum = sap_cumulative_sum
   _d.sap_projection_lower = sap_projection_lower
@@ -258,7 +283,6 @@ def _collision_shim(
 
 def _collision_jax_impl(m: types.Model, d: types.Data):
   output_dims = {
-      'collision_hftri_index': d._impl.collision_hftri_index.shape,
       'collision_pair': d._impl.collision_pair.shape,
       'collision_pairid': d._impl.collision_pairid.shape,
       'collision_worldid': d._impl.collision_worldid.shape,
@@ -275,9 +299,19 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       'epa_vert_index2': d._impl.epa_vert_index2.shape,
       'geom_xmat': d.geom_xmat.shape,
       'geom_xpos': d.geom_xpos.shape,
+      'multiccd_clipped': d._impl.multiccd_clipped.shape,
+      'multiccd_endvert': d._impl.multiccd_endvert.shape,
+      'multiccd_face1': d._impl.multiccd_face1.shape,
+      'multiccd_face2': d._impl.multiccd_face2.shape,
+      'multiccd_idx1': d._impl.multiccd_idx1.shape,
+      'multiccd_idx2': d._impl.multiccd_idx2.shape,
+      'multiccd_n1': d._impl.multiccd_n1.shape,
+      'multiccd_n2': d._impl.multiccd_n2.shape,
+      'multiccd_pdist': d._impl.multiccd_pdist.shape,
+      'multiccd_pnormal': d._impl.multiccd_pnormal.shape,
+      'multiccd_polygon': d._impl.multiccd_polygon.shape,
       'ncollision': d._impl.ncollision.shape,
       'ncon': d._impl.ncon.shape,
-      'ncon_hfield': d._impl.ncon_hfield.shape,
       'sap_cumulative_sum': d._impl.sap_cumulative_sum.shape,
       'sap_projection_lower': d._impl.sap_projection_lower.shape,
       'sap_projection_upper': d._impl.sap_projection_upper.shape,
@@ -298,11 +332,10 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
   }
   jf = ffi.jax_callable_variadic_tuple(
       _collision_shim,
-      num_outputs=37,
+      num_outputs=46,
       output_dims=output_dims,
       vmap_method=None,
       in_out_argnames={
-          'collision_hftri_index',
           'collision_pair',
           'collision_pairid',
           'collision_worldid',
@@ -319,9 +352,19 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
           'epa_vert_index2',
           'geom_xmat',
           'geom_xpos',
+          'multiccd_clipped',
+          'multiccd_endvert',
+          'multiccd_face1',
+          'multiccd_face2',
+          'multiccd_idx1',
+          'multiccd_idx2',
+          'multiccd_n1',
+          'multiccd_n2',
+          'multiccd_pdist',
+          'multiccd_pnormal',
+          'multiccd_polygon',
           'ncollision',
           'ncon',
-          'ncon_hfield',
           'sap_cumulative_sum',
           'sap_projection_lower',
           'sap_projection_upper',
@@ -352,22 +395,21 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       m.geom_margin,
       m._impl.geom_pair_type_count,
       m._impl.geom_plugin_index,
-      m.geom_pos,
       m.geom_priority,
-      m.geom_quat,
       m.geom_rbound,
       m.geom_size,
       m.geom_solimp,
       m.geom_solmix,
       m.geom_solref,
       m.geom_type,
-      m._impl.geompair2hfgeompair,
       m._impl.has_sdf_geom,
       m.hfield_adr,
       m.hfield_data,
       m.hfield_ncol,
       m.hfield_nrow,
       m.hfield_size,
+      m.mesh_face,
+      m.mesh_faceadr,
       m.mesh_graph,
       m.mesh_graphadr,
       m._impl.mesh_polyadr,
@@ -383,10 +425,13 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       m.mesh_vertadr,
       m.mesh_vertnum,
       m.ngeom,
-      m.nhfield,
+      m.nmeshface,
       m._impl.nxn_geom_pair_filtered,
       m._impl.nxn_pairid,
       m._impl.nxn_pairid_filtered,
+      m._impl.oct_aabb,
+      m._impl.oct_child,
+      m._impl.oct_coeff,
       m.pair_dim,
       m.pair_friction,
       m.pair_gap,
@@ -398,6 +443,7 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       m._impl.plugin_attr,
       m.opt._impl.broadphase,
       m.opt._impl.broadphase_filter,
+      m.opt._impl.ccd_tolerance,
       m.opt.disableflags,
       m.opt._impl.epa_iterations,
       m.opt._impl.gjk_iterations,
@@ -406,7 +452,6 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       m.opt._impl.sdf_initpoints,
       m.opt._impl.sdf_iterations,
       d._impl.nconmax,
-      d._impl.collision_hftri_index,
       d._impl.collision_pair,
       d._impl.collision_pairid,
       d._impl.collision_worldid,
@@ -423,9 +468,19 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       d._impl.epa_vert_index2,
       d.geom_xmat,
       d.geom_xpos,
+      d._impl.multiccd_clipped,
+      d._impl.multiccd_endvert,
+      d._impl.multiccd_face1,
+      d._impl.multiccd_face2,
+      d._impl.multiccd_idx1,
+      d._impl.multiccd_idx2,
+      d._impl.multiccd_n1,
+      d._impl.multiccd_n2,
+      d._impl.multiccd_pdist,
+      d._impl.multiccd_pnormal,
+      d._impl.multiccd_polygon,
       d._impl.ncollision,
       d._impl.ncon,
-      d._impl.ncon_hfield,
       d._impl.sap_cumulative_sum,
       d._impl.sap_projection_lower,
       d._impl.sap_projection_upper,
@@ -445,43 +500,52 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       d._impl.contact__worldid,
   )
   d = d.tree_replace({
-      '_impl.collision_hftri_index': out[0],
-      '_impl.collision_pair': out[1],
-      '_impl.collision_pairid': out[2],
-      '_impl.collision_worldid': out[3],
-      '_impl.epa_face': out[4],
-      '_impl.epa_horizon': out[5],
-      '_impl.epa_index': out[6],
-      '_impl.epa_map': out[7],
-      '_impl.epa_norm2': out[8],
-      '_impl.epa_pr': out[9],
-      '_impl.epa_vert': out[10],
-      '_impl.epa_vert1': out[11],
-      '_impl.epa_vert2': out[12],
-      '_impl.epa_vert_index1': out[13],
-      '_impl.epa_vert_index2': out[14],
-      'geom_xmat': out[15],
-      'geom_xpos': out[16],
-      '_impl.ncollision': out[17],
-      '_impl.ncon': out[18],
-      '_impl.ncon_hfield': out[19],
-      '_impl.sap_cumulative_sum': out[20],
-      '_impl.sap_projection_lower': out[21],
-      '_impl.sap_projection_upper': out[22],
-      '_impl.sap_range': out[23],
-      '_impl.sap_segment_index': out[24],
-      '_impl.sap_sort_index': out[25],
-      '_impl.contact__dim': out[26],
-      '_impl.contact__dist': out[27],
-      '_impl.contact__frame': out[28],
-      '_impl.contact__friction': out[29],
-      '_impl.contact__geom': out[30],
-      '_impl.contact__includemargin': out[31],
-      '_impl.contact__pos': out[32],
-      '_impl.contact__solimp': out[33],
-      '_impl.contact__solref': out[34],
-      '_impl.contact__solreffriction': out[35],
-      '_impl.contact__worldid': out[36],
+      '_impl.collision_pair': out[0],
+      '_impl.collision_pairid': out[1],
+      '_impl.collision_worldid': out[2],
+      '_impl.epa_face': out[3],
+      '_impl.epa_horizon': out[4],
+      '_impl.epa_index': out[5],
+      '_impl.epa_map': out[6],
+      '_impl.epa_norm2': out[7],
+      '_impl.epa_pr': out[8],
+      '_impl.epa_vert': out[9],
+      '_impl.epa_vert1': out[10],
+      '_impl.epa_vert2': out[11],
+      '_impl.epa_vert_index1': out[12],
+      '_impl.epa_vert_index2': out[13],
+      'geom_xmat': out[14],
+      'geom_xpos': out[15],
+      '_impl.multiccd_clipped': out[16],
+      '_impl.multiccd_endvert': out[17],
+      '_impl.multiccd_face1': out[18],
+      '_impl.multiccd_face2': out[19],
+      '_impl.multiccd_idx1': out[20],
+      '_impl.multiccd_idx2': out[21],
+      '_impl.multiccd_n1': out[22],
+      '_impl.multiccd_n2': out[23],
+      '_impl.multiccd_pdist': out[24],
+      '_impl.multiccd_pnormal': out[25],
+      '_impl.multiccd_polygon': out[26],
+      '_impl.ncollision': out[27],
+      '_impl.ncon': out[28],
+      '_impl.sap_cumulative_sum': out[29],
+      '_impl.sap_projection_lower': out[30],
+      '_impl.sap_projection_upper': out[31],
+      '_impl.sap_range': out[32],
+      '_impl.sap_segment_index': out[33],
+      '_impl.sap_sort_index': out[34],
+      '_impl.contact__dim': out[35],
+      '_impl.contact__dist': out[36],
+      '_impl.contact__frame': out[37],
+      '_impl.contact__friction': out[38],
+      '_impl.contact__geom': out[39],
+      '_impl.contact__includemargin': out[40],
+      '_impl.contact__pos': out[41],
+      '_impl.contact__solimp': out[42],
+      '_impl.contact__solref': out[43],
+      '_impl.contact__solreffriction': out[44],
+      '_impl.contact__worldid': out[45],
   })
   return d
 
diff --git a/mjx/mujoco/mjx/warp/forward.py b/mjx/mujoco/mjx/warp/forward.py
index d80eae30..58191252 100644
--- a/mjx/mujoco/mjx/warp/forward.py
+++ b/mjx/mujoco/mjx/warp/forward.py
@@ -42,6 +42,7 @@ _e = mjwarp.Constraint(
     **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
 )
 
+
 @ffi.format_args_for_warp
 def _forward_shim(
     # Model
@@ -157,7 +158,6 @@ def _forward_shim(
     geom_solmix: wp.array2d(dtype=float),
     geom_solref: wp.array2d(dtype=wp.vec2),
     geom_type: wp.array(dtype=int),
-    geompair2hfgeompair: wp.array(dtype=int),
     has_sdf_geom: bool,
     hfield_adr: wp.array(dtype=int),
     hfield_data: wp.array(dtype=float),
@@ -220,7 +220,6 @@ def _forward_shim(
     nflexvert: int,
     ngeom: int,
     ngravcomp: int,
-    nhfield: int,
     njnt: int,
     nlight: int,
     nlsp: int,
@@ -234,6 +233,9 @@ def _forward_shim(
     nxn_geom_pair_filtered: wp.array(dtype=wp.vec2i),
     nxn_pairid: wp.array(dtype=int),
     nxn_pairid_filtered: wp.array(dtype=int),
+    oct_aabb: wp.array2d(dtype=wp.vec3),
+    oct_child: wp.array(dtype=mjwp_types.vec8i),
+    oct_coeff: wp.array(dtype=mjwp_types.vec8f),
     pair_dim: wp.array(dtype=int),
     pair_friction: wp.array2d(dtype=mjwp_types.vec5),
     pair_gap: wp.array2d(dtype=float),
@@ -317,7 +319,9 @@ def _forward_shim(
     wrap_type: wp.array(dtype=int),
     opt__broadphase: int,
     opt__broadphase_filter: int,
+    opt__ccd_tolerance: wp.array(dtype=float),
     opt__cone: int,
+    opt__contact_sensor_maxmatch: int,
     opt__density: wp.array(dtype=float),
     opt__disableflags: int,
     opt__enableflags: int,
@@ -362,7 +366,6 @@ def _forward_shim(
     cfrc_ext: wp.array2d(dtype=wp.spatial_vector),
     cfrc_int: wp.array2d(dtype=wp.spatial_vector),
     cinert: wp.array2d(dtype=mjwp_types.vec10),
-    collision_hftri_index: wp.array(dtype=int),
     collision_pair: wp.array(dtype=wp.vec2i),
     collision_pairid: wp.array(dtype=int),
     collision_worldid: wp.array(dtype=int),
@@ -393,9 +396,19 @@ def _forward_shim(
     light_xpos: wp.array2d(dtype=wp.vec3),
     mocap_pos: wp.array2d(dtype=wp.vec3),
     mocap_quat: wp.array2d(dtype=wp.quat),
+    multiccd_clipped: wp.array2d(dtype=wp.vec3),
+    multiccd_endvert: wp.array2d(dtype=wp.vec3),
+    multiccd_face1: wp.array2d(dtype=wp.vec3),
+    multiccd_face2: wp.array2d(dtype=wp.vec3),
+    multiccd_idx1: wp.array2d(dtype=int),
+    multiccd_idx2: wp.array2d(dtype=int),
+    multiccd_n1: wp.array2d(dtype=wp.vec3),
+    multiccd_n2: wp.array2d(dtype=wp.vec3),
+    multiccd_pdist: wp.array2d(dtype=float),
+    multiccd_pnormal: wp.array2d(dtype=wp.vec3),
+    multiccd_polygon: wp.array2d(dtype=wp.vec3),
     ncollision: wp.array(dtype=int),
     ncon: wp.array(dtype=int),
-    ncon_hfield: wp.array2d(dtype=int),
     ne: wp.array(dtype=int),
     ne_connect: wp.array(dtype=int),
     ne_jnt: wp.array(dtype=int),
@@ -627,7 +640,6 @@ def _forward_shim(
   _m.geom_solmix = geom_solmix
   _m.geom_solref = geom_solref
   _m.geom_type = geom_type
-  _m.geompair2hfgeompair = geompair2hfgeompair
   _m.has_sdf_geom = has_sdf_geom
   _m.hfield_adr = hfield_adr
   _m.hfield_data = hfield_data
@@ -690,7 +702,6 @@ def _forward_shim(
   _m.nflexvert = nflexvert
   _m.ngeom = ngeom
   _m.ngravcomp = ngravcomp
-  _m.nhfield = nhfield
   _m.njnt = njnt
   _m.nlight = nlight
   _m.nlsp = nlsp
@@ -704,9 +715,14 @@ def _forward_shim(
   _m.nxn_geom_pair_filtered = nxn_geom_pair_filtered
   _m.nxn_pairid = nxn_pairid
   _m.nxn_pairid_filtered = nxn_pairid_filtered
+  _m.oct_aabb = oct_aabb
+  _m.oct_child = oct_child
+  _m.oct_coeff = oct_coeff
   _m.opt.broadphase = opt__broadphase
   _m.opt.broadphase_filter = opt__broadphase_filter
+  _m.opt.ccd_tolerance = opt__ccd_tolerance
   _m.opt.cone = opt__cone
+  _m.opt.contact_sensor_maxmatch = opt__contact_sensor_maxmatch
   _m.opt.density = opt__density
   _m.opt.disableflags = opt__disableflags
   _m.opt.enableflags = opt__enableflags
@@ -829,7 +845,6 @@ def _forward_shim(
   _d.cfrc_ext = cfrc_ext
   _d.cfrc_int = cfrc_int
   _d.cinert = cinert
-  _d.collision_hftri_index = collision_hftri_index
   _d.collision_pair = collision_pair
   _d.collision_pairid = collision_pairid
   _d.collision_worldid = collision_worldid
@@ -906,9 +921,19 @@ def _forward_shim(
   _d.light_xpos = light_xpos
   _d.mocap_pos = mocap_pos
   _d.mocap_quat = mocap_quat
+  _d.multiccd_clipped = multiccd_clipped
+  _d.multiccd_endvert = multiccd_endvert
+  _d.multiccd_face1 = multiccd_face1
+  _d.multiccd_face2 = multiccd_face2
+  _d.multiccd_idx1 = multiccd_idx1
+  _d.multiccd_idx2 = multiccd_idx2
+  _d.multiccd_n1 = multiccd_n1
+  _d.multiccd_n2 = multiccd_n2
+  _d.multiccd_pdist = multiccd_pdist
+  _d.multiccd_pnormal = multiccd_pnormal
+  _d.multiccd_polygon = multiccd_polygon
   _d.ncollision = ncollision
   _d.ncon = ncon
-  _d.ncon_hfield = ncon_hfield
   _d.nconmax = nconmax
   _d.ne = ne
   _d.ne_connect = ne_connect
@@ -1001,7 +1026,6 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       'cfrc_ext': d._impl.cfrc_ext.shape,
       'cfrc_int': d._impl.cfrc_int.shape,
       'cinert': d._impl.cinert.shape,
-      'collision_hftri_index': d._impl.collision_hftri_index.shape,
       'collision_pair': d._impl.collision_pair.shape,
       'collision_pairid': d._impl.collision_pairid.shape,
       'collision_worldid': d._impl.collision_worldid.shape,
@@ -1032,9 +1056,19 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       'light_xpos': d._impl.light_xpos.shape,
       'mocap_pos': d.mocap_pos.shape,
       'mocap_quat': d.mocap_quat.shape,
+      'multiccd_clipped': d._impl.multiccd_clipped.shape,
+      'multiccd_endvert': d._impl.multiccd_endvert.shape,
+      'multiccd_face1': d._impl.multiccd_face1.shape,
+      'multiccd_face2': d._impl.multiccd_face2.shape,
+      'multiccd_idx1': d._impl.multiccd_idx1.shape,
+      'multiccd_idx2': d._impl.multiccd_idx2.shape,
+      'multiccd_n1': d._impl.multiccd_n1.shape,
+      'multiccd_n2': d._impl.multiccd_n2.shape,
+      'multiccd_pdist': d._impl.multiccd_pdist.shape,
+      'multiccd_pnormal': d._impl.multiccd_pnormal.shape,
+      'multiccd_polygon': d._impl.multiccd_polygon.shape,
       'ncollision': d._impl.ncollision.shape,
       'ncon': d._impl.ncon.shape,
-      'ncon_hfield': d._impl.ncon_hfield.shape,
       'ne': d._impl.ne.shape,
       'ne_connect': d._impl.ne_connect.shape,
       'ne_jnt': d._impl.ne_jnt.shape,
@@ -1153,7 +1187,7 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
   }
   jf = ffi.jax_callable_variadic_tuple(
       _forward_shim,
-      num_outputs=164,
+      num_outputs=173,
       output_dims=output_dims,
       vmap_method=None,
       in_out_argnames={
@@ -1172,7 +1206,6 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
           'cfrc_ext',
           'cfrc_int',
           'cinert',
-          'collision_hftri_index',
           'collision_pair',
           'collision_pairid',
           'collision_worldid',
@@ -1203,9 +1236,19 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
           'light_xpos',
           'mocap_pos',
           'mocap_quat',
+          'multiccd_clipped',
+          'multiccd_endvert',
+          'multiccd_face1',
+          'multiccd_face2',
+          'multiccd_idx1',
+          'multiccd_idx2',
+          'multiccd_n1',
+          'multiccd_n2',
+          'multiccd_pdist',
+          'multiccd_pnormal',
+          'multiccd_polygon',
           'ncollision',
           'ncon',
-          'ncon_hfield',
           'ne',
           'ne_connect',
           'ne_jnt',
@@ -1436,7 +1479,6 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       m.geom_solmix,
       m.geom_solref,
       m.geom_type,
-      m._impl.geompair2hfgeompair,
       m._impl.has_sdf_geom,
       m.hfield_adr,
       m.hfield_data,
@@ -1499,7 +1541,6 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       m._impl.nflexvert,
       m.ngeom,
       m.ngravcomp,
-      m.nhfield,
       m.njnt,
       m.nlight,
       m._impl.nlsp,
@@ -1513,6 +1554,9 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       m._impl.nxn_geom_pair_filtered,
       m._impl.nxn_pairid,
       m._impl.nxn_pairid_filtered,
+      m._impl.oct_aabb,
+      m._impl.oct_child,
+      m._impl.oct_coeff,
       m.pair_dim,
       m.pair_friction,
       m.pair_gap,
@@ -1596,7 +1640,9 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       m.wrap_type,
       m.opt._impl.broadphase,
       m.opt._impl.broadphase_filter,
+      m.opt._impl.ccd_tolerance,
       m.opt.cone,
+      m.opt._impl.contact_sensor_maxmatch,
       m.opt.density,
       m.opt.disableflags,
       m.opt.enableflags,
@@ -1640,7 +1686,6 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       d._impl.cfrc_ext,
       d._impl.cfrc_int,
       d._impl.cinert,
-      d._impl.collision_hftri_index,
       d._impl.collision_pair,
       d._impl.collision_pairid,
       d._impl.collision_worldid,
@@ -1671,9 +1716,19 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       d._impl.light_xpos,
       d.mocap_pos,
       d.mocap_quat,
+      d._impl.multiccd_clipped,
+      d._impl.multiccd_endvert,
+      d._impl.multiccd_face1,
+      d._impl.multiccd_face2,
+      d._impl.multiccd_idx1,
+      d._impl.multiccd_idx2,
+      d._impl.multiccd_n1,
+      d._impl.multiccd_n2,
+      d._impl.multiccd_pdist,
+      d._impl.multiccd_pnormal,
+      d._impl.multiccd_polygon,
       d._impl.ncollision,
       d._impl.ncon,
-      d._impl.ncon_hfield,
       d._impl.ne,
       d._impl.ne_connect,
       d._impl.ne_jnt,
@@ -1806,155 +1861,164 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       '_impl.cfrc_ext': out[12],
       '_impl.cfrc_int': out[13],
       '_impl.cinert': out[14],
-      '_impl.collision_hftri_index': out[15],
-      '_impl.collision_pair': out[16],
-      '_impl.collision_pairid': out[17],
-      '_impl.collision_worldid': out[18],
-      '_impl.crb': out[19],
-      'ctrl': out[20],
-      'cvel': out[21],
-      '_impl.energy': out[22],
-      '_impl.epa_face': out[23],
-      '_impl.epa_horizon': out[24],
-      '_impl.epa_index': out[25],
-      '_impl.epa_map': out[26],
-      '_impl.epa_norm2': out[27],
-      '_impl.epa_pr': out[28],
-      '_impl.epa_vert': out[29],
-      '_impl.epa_vert1': out[30],
-      '_impl.epa_vert2': out[31],
-      '_impl.epa_vert_index1': out[32],
-      '_impl.epa_vert_index2': out[33],
-      'eq_active': out[34],
-      '_impl.flexedge_length': out[35],
-      '_impl.flexedge_velocity': out[36],
-      '_impl.flexvert_xpos': out[37],
-      '_impl.fluid_applied': out[38],
-      '_impl.geom_skip': out[39],
-      'geom_xmat': out[40],
-      'geom_xpos': out[41],
-      '_impl.light_xdir': out[42],
-      '_impl.light_xpos': out[43],
-      'mocap_pos': out[44],
-      'mocap_quat': out[45],
-      '_impl.ncollision': out[46],
-      '_impl.ncon': out[47],
-      '_impl.ncon_hfield': out[48],
-      '_impl.ne': out[49],
-      '_impl.ne_connect': out[50],
-      '_impl.ne_jnt': out[51],
-      '_impl.ne_ten': out[52],
-      '_impl.ne_weld': out[53],
-      '_impl.nefc': out[54],
-      '_impl.nf': out[55],
-      '_impl.nl': out[56],
-      '_impl.nsolving': out[57],
-      '_impl.qLD': out[58],
-      '_impl.qLDiagInv': out[59],
-      '_impl.qM': out[60],
-      'qacc': out[61],
-      'qacc_smooth': out[62],
-      'qacc_warmstart': out[63],
-      'qfrc_actuator': out[64],
-      'qfrc_applied': out[65],
-      'qfrc_bias': out[66],
-      'qfrc_constraint': out[67],
-      '_impl.qfrc_damper': out[68],
-      'qfrc_fluid': out[69],
-      'qfrc_gravcomp': out[70],
-      'qfrc_passive': out[71],
-      'qfrc_smooth': out[72],
-      '_impl.qfrc_spring': out[73],
-      'qpos': out[74],
-      'qvel': out[75],
-      '_impl.sap_cumulative_sum': out[76],
-      '_impl.sap_projection_lower': out[77],
-      '_impl.sap_projection_upper': out[78],
-      '_impl.sap_range': out[79],
-      '_impl.sap_segment_index': out[80],
-      '_impl.sap_sort_index': out[81],
-      '_impl.sensor_contact_criteria': out[82],
-      '_impl.sensor_contact_direction': out[83],
-      '_impl.sensor_contact_matchid': out[84],
-      '_impl.sensor_contact_nmatch': out[85],
-      '_impl.sensor_rangefinder_dist': out[86],
-      '_impl.sensor_rangefinder_geomid': out[87],
-      '_impl.sensor_rangefinder_pnt': out[88],
-      '_impl.sensor_rangefinder_vec': out[89],
-      'sensordata': out[90],
-      'site_xmat': out[91],
-      'site_xpos': out[92],
-      '_impl.solver_niter': out[93],
-      '_impl.subtree_angmom': out[94],
-      '_impl.subtree_bodyvel': out[95],
-      'subtree_com': out[96],
-      '_impl.subtree_linvel': out[97],
-      '_impl.ten_J': out[98],
-      '_impl.ten_Jdot': out[99],
-      '_impl.ten_actfrc': out[100],
-      '_impl.ten_bias_coef': out[101],
-      'ten_length': out[102],
-      '_impl.ten_velocity': out[103],
-      '_impl.ten_wrapadr': out[104],
-      '_impl.ten_wrapnum': out[105],
-      'time': out[106],
-      '_impl.wrap_geom_xpos': out[107],
-      '_impl.wrap_obj': out[108],
-      '_impl.wrap_xpos': out[109],
-      'xanchor': out[110],
-      'xaxis': out[111],
-      'xfrc_applied': out[112],
-      'ximat': out[113],
-      'xipos': out[114],
-      'xmat': out[115],
-      'xpos': out[116],
-      'xquat': out[117],
-      '_impl.contact__dim': out[118],
-      '_impl.contact__dist': out[119],
-      '_impl.contact__efc_address': out[120],
-      '_impl.contact__frame': out[121],
-      '_impl.contact__friction': out[122],
-      '_impl.contact__geom': out[123],
-      '_impl.contact__includemargin': out[124],
-      '_impl.contact__pos': out[125],
-      '_impl.contact__solimp': out[126],
-      '_impl.contact__solref': out[127],
-      '_impl.contact__solreffriction': out[128],
-      '_impl.contact__worldid': out[129],
-      '_impl.efc__D': out[130],
-      '_impl.efc__J': out[131],
-      '_impl.efc__Jaref': out[132],
-      '_impl.efc__Ma': out[133],
-      '_impl.efc__Mgrad': out[134],
-      '_impl.efc__alpha': out[135],
-      '_impl.efc__aref': out[136],
-      '_impl.efc__beta': out[137],
-      '_impl.efc__cholesky_L_tmp': out[138],
-      '_impl.efc__cholesky_y_tmp': out[139],
-      '_impl.efc__cost': out[140],
-      '_impl.efc__cost_candidate': out[141],
-      '_impl.efc__done': out[142],
-      '_impl.efc__force': out[143],
-      '_impl.efc__frictionloss': out[144],
-      '_impl.efc__gauss': out[145],
-      '_impl.efc__grad': out[146],
-      '_impl.efc__grad_dot': out[147],
-      '_impl.efc__h': out[148],
-      '_impl.efc__id': out[149],
-      '_impl.efc__jv': out[150],
-      '_impl.efc__margin': out[151],
-      '_impl.efc__mv': out[152],
-      '_impl.efc__pos': out[153],
-      '_impl.efc__prev_Mgrad': out[154],
-      '_impl.efc__prev_cost': out[155],
-      '_impl.efc__prev_grad': out[156],
-      '_impl.efc__quad': out[157],
-      '_impl.efc__quad_gauss': out[158],
-      '_impl.efc__search': out[159],
-      '_impl.efc__search_dot': out[160],
-      '_impl.efc__state': out[161],
-      '_impl.efc__type': out[162],
-      '_impl.efc__vel': out[163],
+      '_impl.collision_pair': out[15],
+      '_impl.collision_pairid': out[16],
+      '_impl.collision_worldid': out[17],
+      '_impl.crb': out[18],
+      'ctrl': out[19],
+      'cvel': out[20],
+      '_impl.energy': out[21],
+      '_impl.epa_face': out[22],
+      '_impl.epa_horizon': out[23],
+      '_impl.epa_index': out[24],
+      '_impl.epa_map': out[25],
+      '_impl.epa_norm2': out[26],
+      '_impl.epa_pr': out[27],
+      '_impl.epa_vert': out[28],
+      '_impl.epa_vert1': out[29],
+      '_impl.epa_vert2': out[30],
+      '_impl.epa_vert_index1': out[31],
+      '_impl.epa_vert_index2': out[32],
+      'eq_active': out[33],
+      '_impl.flexedge_length': out[34],
+      '_impl.flexedge_velocity': out[35],
+      '_impl.flexvert_xpos': out[36],
+      '_impl.fluid_applied': out[37],
+      '_impl.geom_skip': out[38],
+      'geom_xmat': out[39],
+      'geom_xpos': out[40],
+      '_impl.light_xdir': out[41],
+      '_impl.light_xpos': out[42],
+      'mocap_pos': out[43],
+      'mocap_quat': out[44],
+      '_impl.multiccd_clipped': out[45],
+      '_impl.multiccd_endvert': out[46],
+      '_impl.multiccd_face1': out[47],
+      '_impl.multiccd_face2': out[48],
+      '_impl.multiccd_idx1': out[49],
+      '_impl.multiccd_idx2': out[50],
+      '_impl.multiccd_n1': out[51],
+      '_impl.multiccd_n2': out[52],
+      '_impl.multiccd_pdist': out[53],
+      '_impl.multiccd_pnormal': out[54],
+      '_impl.multiccd_polygon': out[55],
+      '_impl.ncollision': out[56],
+      '_impl.ncon': out[57],
+      '_impl.ne': out[58],
+      '_impl.ne_connect': out[59],
+      '_impl.ne_jnt': out[60],
+      '_impl.ne_ten': out[61],
+      '_impl.ne_weld': out[62],
+      '_impl.nefc': out[63],
+      '_impl.nf': out[64],
+      '_impl.nl': out[65],
+      '_impl.nsolving': out[66],
+      '_impl.qLD': out[67],
+      '_impl.qLDiagInv': out[68],
+      '_impl.qM': out[69],
+      'qacc': out[70],
+      'qacc_smooth': out[71],
+      'qacc_warmstart': out[72],
+      'qfrc_actuator': out[73],
+      'qfrc_applied': out[74],
+      'qfrc_bias': out[75],
+      'qfrc_constraint': out[76],
+      '_impl.qfrc_damper': out[77],
+      'qfrc_fluid': out[78],
+      'qfrc_gravcomp': out[79],
+      'qfrc_passive': out[80],
+      'qfrc_smooth': out[81],
+      '_impl.qfrc_spring': out[82],
+      'qpos': out[83],
+      'qvel': out[84],
+      '_impl.sap_cumulative_sum': out[85],
+      '_impl.sap_projection_lower': out[86],
+      '_impl.sap_projection_upper': out[87],
+      '_impl.sap_range': out[88],
+      '_impl.sap_segment_index': out[89],
+      '_impl.sap_sort_index': out[90],
+      '_impl.sensor_contact_criteria': out[91],
+      '_impl.sensor_contact_direction': out[92],
+      '_impl.sensor_contact_matchid': out[93],
+      '_impl.sensor_contact_nmatch': out[94],
+      '_impl.sensor_rangefinder_dist': out[95],
+      '_impl.sensor_rangefinder_geomid': out[96],
+      '_impl.sensor_rangefinder_pnt': out[97],
+      '_impl.sensor_rangefinder_vec': out[98],
+      'sensordata': out[99],
+      'site_xmat': out[100],
+      'site_xpos': out[101],
+      '_impl.solver_niter': out[102],
+      '_impl.subtree_angmom': out[103],
+      '_impl.subtree_bodyvel': out[104],
+      'subtree_com': out[105],
+      '_impl.subtree_linvel': out[106],
+      '_impl.ten_J': out[107],
+      '_impl.ten_Jdot': out[108],
+      '_impl.ten_actfrc': out[109],
+      '_impl.ten_bias_coef': out[110],
+      'ten_length': out[111],
+      '_impl.ten_velocity': out[112],
+      '_impl.ten_wrapadr': out[113],
+      '_impl.ten_wrapnum': out[114],
+      'time': out[115],
+      '_impl.wrap_geom_xpos': out[116],
+      '_impl.wrap_obj': out[117],
+      '_impl.wrap_xpos': out[118],
+      'xanchor': out[119],
+      'xaxis': out[120],
+      'xfrc_applied': out[121],
+      'ximat': out[122],
+      'xipos': out[123],
+      'xmat': out[124],
+      'xpos': out[125],
+      'xquat': out[126],
+      '_impl.contact__dim': out[127],
+      '_impl.contact__dist': out[128],
+      '_impl.contact__efc_address': out[129],
+      '_impl.contact__frame': out[130],
+      '_impl.contact__friction': out[131],
+      '_impl.contact__geom': out[132],
+      '_impl.contact__includemargin': out[133],
+      '_impl.contact__pos': out[134],
+      '_impl.contact__solimp': out[135],
+      '_impl.contact__solref': out[136],
+      '_impl.contact__solreffriction': out[137],
+      '_impl.contact__worldid': out[138],
+      '_impl.efc__D': out[139],
+      '_impl.efc__J': out[140],
+      '_impl.efc__Jaref': out[141],
+      '_impl.efc__Ma': out[142],
+      '_impl.efc__Mgrad': out[143],
+      '_impl.efc__alpha': out[144],
+      '_impl.efc__aref': out[145],
+      '_impl.efc__beta': out[146],
+      '_impl.efc__cholesky_L_tmp': out[147],
+      '_impl.efc__cholesky_y_tmp': out[148],
+      '_impl.efc__cost': out[149],
+      '_impl.efc__cost_candidate': out[150],
+      '_impl.efc__done': out[151],
+      '_impl.efc__force': out[152],
+      '_impl.efc__frictionloss': out[153],
+      '_impl.efc__gauss': out[154],
+      '_impl.efc__grad': out[155],
+      '_impl.efc__grad_dot': out[156],
+      '_impl.efc__h': out[157],
+      '_impl.efc__id': out[158],
+      '_impl.efc__jv': out[159],
+      '_impl.efc__margin': out[160],
+      '_impl.efc__mv': out[161],
+      '_impl.efc__pos': out[162],
+      '_impl.efc__prev_Mgrad': out[163],
+      '_impl.efc__prev_cost': out[164],
+      '_impl.efc__prev_grad': out[165],
+      '_impl.efc__quad': out[166],
+      '_impl.efc__quad_gauss': out[167],
+      '_impl.efc__search': out[168],
+      '_impl.efc__search_dot': out[169],
+      '_impl.efc__state': out[170],
+      '_impl.efc__type': out[171],
+      '_impl.efc__vel': out[172],
   })
   return d
 
@@ -1989,6 +2053,7 @@ _e = mjwarp.Constraint(
     **{f.name: None for f in dataclasses.fields(mjwarp.Constraint) if f.init}
 )
 
+
 @ffi.format_args_for_warp
 def _step_shim(
     # Model
@@ -2105,7 +2170,6 @@ def _step_shim(
     geom_solmix: wp.array2d(dtype=float),
     geom_solref: wp.array2d(dtype=wp.vec2),
     geom_type: wp.array(dtype=int),
-    geompair2hfgeompair: wp.array(dtype=int),
     has_sdf_geom: bool,
     hfield_adr: wp.array(dtype=int),
     hfield_data: wp.array(dtype=float),
@@ -2168,7 +2232,6 @@ def _step_shim(
     nflexvert: int,
     ngeom: int,
     ngravcomp: int,
-    nhfield: int,
     njnt: int,
     nlight: int,
     nlsp: int,
@@ -2182,6 +2245,9 @@ def _step_shim(
     nxn_geom_pair_filtered: wp.array(dtype=wp.vec2i),
     nxn_pairid: wp.array(dtype=int),
     nxn_pairid_filtered: wp.array(dtype=int),
+    oct_aabb: wp.array2d(dtype=wp.vec3),
+    oct_child: wp.array(dtype=mjwp_types.vec8i),
+    oct_coeff: wp.array(dtype=mjwp_types.vec8f),
     pair_dim: wp.array(dtype=int),
     pair_friction: wp.array2d(dtype=mjwp_types.vec5),
     pair_gap: wp.array2d(dtype=float),
@@ -2265,7 +2331,9 @@ def _step_shim(
     wrap_type: wp.array(dtype=int),
     opt__broadphase: int,
     opt__broadphase_filter: int,
+    opt__ccd_tolerance: wp.array(dtype=float),
     opt__cone: int,
+    opt__contact_sensor_maxmatch: int,
     opt__density: wp.array(dtype=float),
     opt__disableflags: int,
     opt__enableflags: int,
@@ -2313,7 +2381,6 @@ def _step_shim(
     cfrc_ext: wp.array2d(dtype=wp.spatial_vector),
     cfrc_int: wp.array2d(dtype=wp.spatial_vector),
     cinert: wp.array2d(dtype=mjwp_types.vec10),
-    collision_hftri_index: wp.array(dtype=int),
     collision_pair: wp.array(dtype=wp.vec2i),
     collision_pairid: wp.array(dtype=int),
     collision_worldid: wp.array(dtype=int),
@@ -2345,9 +2412,19 @@ def _step_shim(
     light_xpos: wp.array2d(dtype=wp.vec3),
     mocap_pos: wp.array2d(dtype=wp.vec3),
     mocap_quat: wp.array2d(dtype=wp.quat),
+    multiccd_clipped: wp.array2d(dtype=wp.vec3),
+    multiccd_endvert: wp.array2d(dtype=wp.vec3),
+    multiccd_face1: wp.array2d(dtype=wp.vec3),
+    multiccd_face2: wp.array2d(dtype=wp.vec3),
+    multiccd_idx1: wp.array2d(dtype=int),
+    multiccd_idx2: wp.array2d(dtype=int),
+    multiccd_n1: wp.array2d(dtype=wp.vec3),
+    multiccd_n2: wp.array2d(dtype=wp.vec3),
+    multiccd_pdist: wp.array2d(dtype=float),
+    multiccd_pnormal: wp.array2d(dtype=wp.vec3),
+    multiccd_polygon: wp.array2d(dtype=wp.vec3),
     ncollision: wp.array(dtype=int),
     ncon: wp.array(dtype=int),
-    ncon_hfield: wp.array2d(dtype=int),
     ne: wp.array(dtype=int),
     ne_connect: wp.array(dtype=int),
     ne_jnt: wp.array(dtype=int),
@@ -2589,7 +2666,6 @@ def _step_shim(
   _m.geom_solmix = geom_solmix
   _m.geom_solref = geom_solref
   _m.geom_type = geom_type
-  _m.geompair2hfgeompair = geompair2hfgeompair
   _m.has_sdf_geom = has_sdf_geom
   _m.hfield_adr = hfield_adr
   _m.hfield_data = hfield_data
@@ -2652,7 +2728,6 @@ def _step_shim(
   _m.nflexvert = nflexvert
   _m.ngeom = ngeom
   _m.ngravcomp = ngravcomp
-  _m.nhfield = nhfield
   _m.njnt = njnt
   _m.nlight = nlight
   _m.nlsp = nlsp
@@ -2666,9 +2741,14 @@ def _step_shim(
   _m.nxn_geom_pair_filtered = nxn_geom_pair_filtered
   _m.nxn_pairid = nxn_pairid
   _m.nxn_pairid_filtered = nxn_pairid_filtered
+  _m.oct_aabb = oct_aabb
+  _m.oct_child = oct_child
+  _m.oct_coeff = oct_coeff
   _m.opt.broadphase = opt__broadphase
   _m.opt.broadphase_filter = opt__broadphase_filter
+  _m.opt.ccd_tolerance = opt__ccd_tolerance
   _m.opt.cone = opt__cone
+  _m.opt.contact_sensor_maxmatch = opt__contact_sensor_maxmatch
   _m.opt.density = opt__density
   _m.opt.disableflags = opt__disableflags
   _m.opt.enableflags = opt__enableflags
@@ -2794,7 +2874,6 @@ def _step_shim(
   _d.cfrc_ext = cfrc_ext
   _d.cfrc_int = cfrc_int
   _d.cinert = cinert
-  _d.collision_hftri_index = collision_hftri_index
   _d.collision_pair = collision_pair
   _d.collision_pairid = collision_pairid
   _d.collision_worldid = collision_worldid
@@ -2872,9 +2951,19 @@ def _step_shim(
   _d.light_xpos = light_xpos
   _d.mocap_pos = mocap_pos
   _d.mocap_quat = mocap_quat
+  _d.multiccd_clipped = multiccd_clipped
+  _d.multiccd_endvert = multiccd_endvert
+  _d.multiccd_face1 = multiccd_face1
+  _d.multiccd_face2 = multiccd_face2
+  _d.multiccd_idx1 = multiccd_idx1
+  _d.multiccd_idx2 = multiccd_idx2
+  _d.multiccd_n1 = multiccd_n1
+  _d.multiccd_n2 = multiccd_n2
+  _d.multiccd_pdist = multiccd_pdist
+  _d.multiccd_pnormal = multiccd_pnormal
+  _d.multiccd_polygon = multiccd_polygon
   _d.ncollision = ncollision
   _d.ncon = ncon
-  _d.ncon_hfield = ncon_hfield
   _d.nconmax = nconmax
   _d.ne = ne
   _d.ne_connect = ne_connect
@@ -2978,7 +3067,6 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       'cfrc_ext': d._impl.cfrc_ext.shape,
       'cfrc_int': d._impl.cfrc_int.shape,
       'cinert': d._impl.cinert.shape,
-      'collision_hftri_index': d._impl.collision_hftri_index.shape,
       'collision_pair': d._impl.collision_pair.shape,
       'collision_pairid': d._impl.collision_pairid.shape,
       'collision_worldid': d._impl.collision_worldid.shape,
@@ -3010,9 +3098,19 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       'light_xpos': d._impl.light_xpos.shape,
       'mocap_pos': d.mocap_pos.shape,
       'mocap_quat': d.mocap_quat.shape,
+      'multiccd_clipped': d._impl.multiccd_clipped.shape,
+      'multiccd_endvert': d._impl.multiccd_endvert.shape,
+      'multiccd_face1': d._impl.multiccd_face1.shape,
+      'multiccd_face2': d._impl.multiccd_face2.shape,
+      'multiccd_idx1': d._impl.multiccd_idx1.shape,
+      'multiccd_idx2': d._impl.multiccd_idx2.shape,
+      'multiccd_n1': d._impl.multiccd_n1.shape,
+      'multiccd_n2': d._impl.multiccd_n2.shape,
+      'multiccd_pdist': d._impl.multiccd_pdist.shape,
+      'multiccd_pnormal': d._impl.multiccd_pnormal.shape,
+      'multiccd_polygon': d._impl.multiccd_polygon.shape,
       'ncollision': d._impl.ncollision.shape,
       'ncon': d._impl.ncon.shape,
-      'ncon_hfield': d._impl.ncon_hfield.shape,
       'ne': d._impl.ne.shape,
       'ne_connect': d._impl.ne_connect.shape,
       'ne_jnt': d._impl.ne_jnt.shape,
@@ -3140,7 +3238,7 @@ def _step_jax_impl(m: types.Model, d: types.Data):
   }
   jf = ffi.jax_callable_variadic_tuple(
       _step_shim,
-      num_outputs=176,
+      num_outputs=185,
       output_dims=output_dims,
       vmap_method=None,
       in_out_argnames={
@@ -3161,7 +3259,6 @@ def _step_jax_impl(m: types.Model, d: types.Data):
           'cfrc_ext',
           'cfrc_int',
           'cinert',
-          'collision_hftri_index',
           'collision_pair',
           'collision_pairid',
           'collision_worldid',
@@ -3193,9 +3290,19 @@ def _step_jax_impl(m: types.Model, d: types.Data):
           'light_xpos',
           'mocap_pos',
           'mocap_quat',
+          'multiccd_clipped',
+          'multiccd_endvert',
+          'multiccd_face1',
+          'multiccd_face2',
+          'multiccd_idx1',
+          'multiccd_idx2',
+          'multiccd_n1',
+          'multiccd_n2',
+          'multiccd_pdist',
+          'multiccd_pnormal',
+          'multiccd_polygon',
           'ncollision',
           'ncon',
-          'ncon_hfield',
           'ne',
           'ne_connect',
           'ne_jnt',
@@ -3436,7 +3543,6 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       m.geom_solmix,
       m.geom_solref,
       m.geom_type,
-      m._impl.geompair2hfgeompair,
       m._impl.has_sdf_geom,
       m.hfield_adr,
       m.hfield_data,
@@ -3499,7 +3605,6 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       m._impl.nflexvert,
       m.ngeom,
       m.ngravcomp,
-      m.nhfield,
       m.njnt,
       m.nlight,
       m._impl.nlsp,
@@ -3513,6 +3618,9 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       m._impl.nxn_geom_pair_filtered,
       m._impl.nxn_pairid,
       m._impl.nxn_pairid_filtered,
+      m._impl.oct_aabb,
+      m._impl.oct_child,
+      m._impl.oct_coeff,
       m.pair_dim,
       m.pair_friction,
       m.pair_gap,
@@ -3596,7 +3704,9 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       m.wrap_type,
       m.opt._impl.broadphase,
       m.opt._impl.broadphase_filter,
+      m.opt._impl.ccd_tolerance,
       m.opt.cone,
+      m.opt._impl.contact_sensor_maxmatch,
       m.opt.density,
       m.opt.disableflags,
       m.opt.enableflags,
@@ -3643,7 +3753,6 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       d._impl.cfrc_ext,
       d._impl.cfrc_int,
       d._impl.cinert,
-      d._impl.collision_hftri_index,
       d._impl.collision_pair,
       d._impl.collision_pairid,
       d._impl.collision_worldid,
@@ -3675,9 +3784,19 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       d._impl.light_xpos,
       d.mocap_pos,
       d.mocap_quat,
+      d._impl.multiccd_clipped,
+      d._impl.multiccd_endvert,
+      d._impl.multiccd_face1,
+      d._impl.multiccd_face2,
+      d._impl.multiccd_idx1,
+      d._impl.multiccd_idx2,
+      d._impl.multiccd_n1,
+      d._impl.multiccd_n2,
+      d._impl.multiccd_pdist,
+      d._impl.multiccd_pnormal,
+      d._impl.multiccd_polygon,
       d._impl.ncollision,
       d._impl.ncon,
-      d._impl.ncon_hfield,
       d._impl.ne,
       d._impl.ne_connect,
       d._impl.ne_jnt,
@@ -3821,165 +3940,174 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       '_impl.cfrc_ext': out[14],
       '_impl.cfrc_int': out[15],
       '_impl.cinert': out[16],
-      '_impl.collision_hftri_index': out[17],
-      '_impl.collision_pair': out[18],
-      '_impl.collision_pairid': out[19],
-      '_impl.collision_worldid': out[20],
-      '_impl.crb': out[21],
-      'ctrl': out[22],
-      'cvel': out[23],
-      '_impl.energy': out[24],
-      '_impl.epa_face': out[25],
-      '_impl.epa_horizon': out[26],
-      '_impl.epa_index': out[27],
-      '_impl.epa_map': out[28],
-      '_impl.epa_norm2': out[29],
-      '_impl.epa_pr': out[30],
-      '_impl.epa_vert': out[31],
-      '_impl.epa_vert1': out[32],
-      '_impl.epa_vert2': out[33],
-      '_impl.epa_vert_index1': out[34],
-      '_impl.epa_vert_index2': out[35],
-      'eq_active': out[36],
-      '_impl.flexedge_length': out[37],
-      '_impl.flexedge_velocity': out[38],
-      '_impl.flexvert_xpos': out[39],
-      '_impl.fluid_applied': out[40],
-      '_impl.geom_skip': out[41],
-      'geom_xmat': out[42],
-      'geom_xpos': out[43],
-      '_impl.inverse_mul_m_skip': out[44],
-      '_impl.light_xdir': out[45],
-      '_impl.light_xpos': out[46],
-      'mocap_pos': out[47],
-      'mocap_quat': out[48],
-      '_impl.ncollision': out[49],
-      '_impl.ncon': out[50],
-      '_impl.ncon_hfield': out[51],
-      '_impl.ne': out[52],
-      '_impl.ne_connect': out[53],
-      '_impl.ne_jnt': out[54],
-      '_impl.ne_ten': out[55],
-      '_impl.ne_weld': out[56],
-      '_impl.nefc': out[57],
-      '_impl.nf': out[58],
-      '_impl.nl': out[59],
-      '_impl.nsolving': out[60],
-      '_impl.qLD': out[61],
-      '_impl.qLD_integration': out[62],
-      '_impl.qLDiagInv': out[63],
-      '_impl.qLDiagInv_integration': out[64],
-      '_impl.qM': out[65],
-      '_impl.qM_integration': out[66],
-      'qacc': out[67],
-      '_impl.qacc_integration': out[68],
-      '_impl.qacc_rk': out[69],
-      'qacc_smooth': out[70],
-      'qacc_warmstart': out[71],
-      'qfrc_actuator': out[72],
-      'qfrc_applied': out[73],
-      'qfrc_bias': out[74],
-      'qfrc_constraint': out[75],
-      '_impl.qfrc_damper': out[76],
-      'qfrc_fluid': out[77],
-      'qfrc_gravcomp': out[78],
-      '_impl.qfrc_integration': out[79],
-      'qfrc_passive': out[80],
-      'qfrc_smooth': out[81],
-      '_impl.qfrc_spring': out[82],
-      'qpos': out[83],
-      '_impl.qpos_t0': out[84],
-      'qvel': out[85],
-      '_impl.qvel_rk': out[86],
-      '_impl.qvel_t0': out[87],
-      '_impl.sap_cumulative_sum': out[88],
-      '_impl.sap_projection_lower': out[89],
-      '_impl.sap_projection_upper': out[90],
-      '_impl.sap_range': out[91],
-      '_impl.sap_segment_index': out[92],
-      '_impl.sap_sort_index': out[93],
-      '_impl.sensor_contact_criteria': out[94],
-      '_impl.sensor_contact_direction': out[95],
-      '_impl.sensor_contact_matchid': out[96],
-      '_impl.sensor_contact_nmatch': out[97],
-      '_impl.sensor_rangefinder_dist': out[98],
-      '_impl.sensor_rangefinder_geomid': out[99],
-      '_impl.sensor_rangefinder_pnt': out[100],
-      '_impl.sensor_rangefinder_vec': out[101],
-      'sensordata': out[102],
-      'site_xmat': out[103],
-      'site_xpos': out[104],
-      '_impl.solver_niter': out[105],
-      '_impl.subtree_angmom': out[106],
-      '_impl.subtree_bodyvel': out[107],
-      'subtree_com': out[108],
-      '_impl.subtree_linvel': out[109],
-      '_impl.ten_J': out[110],
-      '_impl.ten_Jdot': out[111],
-      '_impl.ten_actfrc': out[112],
-      '_impl.ten_bias_coef': out[113],
-      'ten_length': out[114],
-      '_impl.ten_velocity': out[115],
-      '_impl.ten_wrapadr': out[116],
-      '_impl.ten_wrapnum': out[117],
-      'time': out[118],
-      '_impl.wrap_geom_xpos': out[119],
-      '_impl.wrap_obj': out[120],
-      '_impl.wrap_xpos': out[121],
-      'xanchor': out[122],
-      'xaxis': out[123],
-      'xfrc_applied': out[124],
-      'ximat': out[125],
-      'xipos': out[126],
-      'xmat': out[127],
-      'xpos': out[128],
-      'xquat': out[129],
-      '_impl.contact__dim': out[130],
-      '_impl.contact__dist': out[131],
-      '_impl.contact__efc_address': out[132],
-      '_impl.contact__frame': out[133],
-      '_impl.contact__friction': out[134],
-      '_impl.contact__geom': out[135],
-      '_impl.contact__includemargin': out[136],
-      '_impl.contact__pos': out[137],
-      '_impl.contact__solimp': out[138],
-      '_impl.contact__solref': out[139],
-      '_impl.contact__solreffriction': out[140],
-      '_impl.contact__worldid': out[141],
-      '_impl.efc__D': out[142],
-      '_impl.efc__J': out[143],
-      '_impl.efc__Jaref': out[144],
-      '_impl.efc__Ma': out[145],
-      '_impl.efc__Mgrad': out[146],
-      '_impl.efc__alpha': out[147],
-      '_impl.efc__aref': out[148],
-      '_impl.efc__beta': out[149],
-      '_impl.efc__cholesky_L_tmp': out[150],
-      '_impl.efc__cholesky_y_tmp': out[151],
-      '_impl.efc__cost': out[152],
-      '_impl.efc__cost_candidate': out[153],
-      '_impl.efc__done': out[154],
-      '_impl.efc__force': out[155],
-      '_impl.efc__frictionloss': out[156],
-      '_impl.efc__gauss': out[157],
-      '_impl.efc__grad': out[158],
-      '_impl.efc__grad_dot': out[159],
-      '_impl.efc__h': out[160],
-      '_impl.efc__id': out[161],
-      '_impl.efc__jv': out[162],
-      '_impl.efc__margin': out[163],
-      '_impl.efc__mv': out[164],
-      '_impl.efc__pos': out[165],
-      '_impl.efc__prev_Mgrad': out[166],
-      '_impl.efc__prev_cost': out[167],
-      '_impl.efc__prev_grad': out[168],
-      '_impl.efc__quad': out[169],
-      '_impl.efc__quad_gauss': out[170],
-      '_impl.efc__search': out[171],
-      '_impl.efc__search_dot': out[172],
-      '_impl.efc__state': out[173],
-      '_impl.efc__type': out[174],
-      '_impl.efc__vel': out[175],
+      '_impl.collision_pair': out[17],
+      '_impl.collision_pairid': out[18],
+      '_impl.collision_worldid': out[19],
+      '_impl.crb': out[20],
+      'ctrl': out[21],
+      'cvel': out[22],
+      '_impl.energy': out[23],
+      '_impl.epa_face': out[24],
+      '_impl.epa_horizon': out[25],
+      '_impl.epa_index': out[26],
+      '_impl.epa_map': out[27],
+      '_impl.epa_norm2': out[28],
+      '_impl.epa_pr': out[29],
+      '_impl.epa_vert': out[30],
+      '_impl.epa_vert1': out[31],
+      '_impl.epa_vert2': out[32],
+      '_impl.epa_vert_index1': out[33],
+      '_impl.epa_vert_index2': out[34],
+      'eq_active': out[35],
+      '_impl.flexedge_length': out[36],
+      '_impl.flexedge_velocity': out[37],
+      '_impl.flexvert_xpos': out[38],
+      '_impl.fluid_applied': out[39],
+      '_impl.geom_skip': out[40],
+      'geom_xmat': out[41],
+      'geom_xpos': out[42],
+      '_impl.inverse_mul_m_skip': out[43],
+      '_impl.light_xdir': out[44],
+      '_impl.light_xpos': out[45],
+      'mocap_pos': out[46],
+      'mocap_quat': out[47],
+      '_impl.multiccd_clipped': out[48],
+      '_impl.multiccd_endvert': out[49],
+      '_impl.multiccd_face1': out[50],
+      '_impl.multiccd_face2': out[51],
+      '_impl.multiccd_idx1': out[52],
+      '_impl.multiccd_idx2': out[53],
+      '_impl.multiccd_n1': out[54],
+      '_impl.multiccd_n2': out[55],
+      '_impl.multiccd_pdist': out[56],
+      '_impl.multiccd_pnormal': out[57],
+      '_impl.multiccd_polygon': out[58],
+      '_impl.ncollision': out[59],
+      '_impl.ncon': out[60],
+      '_impl.ne': out[61],
+      '_impl.ne_connect': out[62],
+      '_impl.ne_jnt': out[63],
+      '_impl.ne_ten': out[64],
+      '_impl.ne_weld': out[65],
+      '_impl.nefc': out[66],
+      '_impl.nf': out[67],
+      '_impl.nl': out[68],
+      '_impl.nsolving': out[69],
+      '_impl.qLD': out[70],
+      '_impl.qLD_integration': out[71],
+      '_impl.qLDiagInv': out[72],
+      '_impl.qLDiagInv_integration': out[73],
+      '_impl.qM': out[74],
+      '_impl.qM_integration': out[75],
+      'qacc': out[76],
+      '_impl.qacc_integration': out[77],
+      '_impl.qacc_rk': out[78],
+      'qacc_smooth': out[79],
+      'qacc_warmstart': out[80],
+      'qfrc_actuator': out[81],
+      'qfrc_applied': out[82],
+      'qfrc_bias': out[83],
+      'qfrc_constraint': out[84],
+      '_impl.qfrc_damper': out[85],
+      'qfrc_fluid': out[86],
+      'qfrc_gravcomp': out[87],
+      '_impl.qfrc_integration': out[88],
+      'qfrc_passive': out[89],
+      'qfrc_smooth': out[90],
+      '_impl.qfrc_spring': out[91],
+      'qpos': out[92],
+      '_impl.qpos_t0': out[93],
+      'qvel': out[94],
+      '_impl.qvel_rk': out[95],
+      '_impl.qvel_t0': out[96],
+      '_impl.sap_cumulative_sum': out[97],
+      '_impl.sap_projection_lower': out[98],
+      '_impl.sap_projection_upper': out[99],
+      '_impl.sap_range': out[100],
+      '_impl.sap_segment_index': out[101],
+      '_impl.sap_sort_index': out[102],
+      '_impl.sensor_contact_criteria': out[103],
+      '_impl.sensor_contact_direction': out[104],
+      '_impl.sensor_contact_matchid': out[105],
+      '_impl.sensor_contact_nmatch': out[106],
+      '_impl.sensor_rangefinder_dist': out[107],
+      '_impl.sensor_rangefinder_geomid': out[108],
+      '_impl.sensor_rangefinder_pnt': out[109],
+      '_impl.sensor_rangefinder_vec': out[110],
+      'sensordata': out[111],
+      'site_xmat': out[112],
+      'site_xpos': out[113],
+      '_impl.solver_niter': out[114],
+      '_impl.subtree_angmom': out[115],
+      '_impl.subtree_bodyvel': out[116],
+      'subtree_com': out[117],
+      '_impl.subtree_linvel': out[118],
+      '_impl.ten_J': out[119],
+      '_impl.ten_Jdot': out[120],
+      '_impl.ten_actfrc': out[121],
+      '_impl.ten_bias_coef': out[122],
+      'ten_length': out[123],
+      '_impl.ten_velocity': out[124],
+      '_impl.ten_wrapadr': out[125],
+      '_impl.ten_wrapnum': out[126],
+      'time': out[127],
+      '_impl.wrap_geom_xpos': out[128],
+      '_impl.wrap_obj': out[129],
+      '_impl.wrap_xpos': out[130],
+      'xanchor': out[131],
+      'xaxis': out[132],
+      'xfrc_applied': out[133],
+      'ximat': out[134],
+      'xipos': out[135],
+      'xmat': out[136],
+      'xpos': out[137],
+      'xquat': out[138],
+      '_impl.contact__dim': out[139],
+      '_impl.contact__dist': out[140],
+      '_impl.contact__efc_address': out[141],
+      '_impl.contact__frame': out[142],
+      '_impl.contact__friction': out[143],
+      '_impl.contact__geom': out[144],
+      '_impl.contact__includemargin': out[145],
+      '_impl.contact__pos': out[146],
+      '_impl.contact__solimp': out[147],
+      '_impl.contact__solref': out[148],
+      '_impl.contact__solreffriction': out[149],
+      '_impl.contact__worldid': out[150],
+      '_impl.efc__D': out[151],
+      '_impl.efc__J': out[152],
+      '_impl.efc__Jaref': out[153],
+      '_impl.efc__Ma': out[154],
+      '_impl.efc__Mgrad': out[155],
+      '_impl.efc__alpha': out[156],
+      '_impl.efc__aref': out[157],
+      '_impl.efc__beta': out[158],
+      '_impl.efc__cholesky_L_tmp': out[159],
+      '_impl.efc__cholesky_y_tmp': out[160],
+      '_impl.efc__cost': out[161],
+      '_impl.efc__cost_candidate': out[162],
+      '_impl.efc__done': out[163],
+      '_impl.efc__force': out[164],
+      '_impl.efc__frictionloss': out[165],
+      '_impl.efc__gauss': out[166],
+      '_impl.efc__grad': out[167],
+      '_impl.efc__grad_dot': out[168],
+      '_impl.efc__h': out[169],
+      '_impl.efc__id': out[170],
+      '_impl.efc__jv': out[171],
+      '_impl.efc__margin': out[172],
+      '_impl.efc__mv': out[173],
+      '_impl.efc__pos': out[174],
+      '_impl.efc__prev_Mgrad': out[175],
+      '_impl.efc__prev_cost': out[176],
+      '_impl.efc__prev_grad': out[177],
+      '_impl.efc__quad': out[178],
+      '_impl.efc__quad_gauss': out[179],
+      '_impl.efc__search': out[180],
+      '_impl.efc__search_dot': out[181],
+      '_impl.efc__state': out[182],
+      '_impl.efc__type': out[183],
+      '_impl.efc__vel': out[184],
   })
   return d
 
diff --git a/mjx/mujoco/mjx/warp/types.py b/mjx/mujoco/mjx/warp/types.py
index ea56b2b5..0dc1dd87 100644
--- a/mjx/mujoco/mjx/warp/types.py
+++ b/mjx/mujoco/mjx/warp/types.py
@@ -88,6 +88,8 @@ class OptionWarp(PyTreeNode):
   """Derived fields from Option."""
   broadphase: int
   broadphase_filter: int
+  ccd_tolerance: jax.Array
+  contact_sensor_maxmatch: int
   epa_iterations: int
   gjk_iterations: int
   graph_conditional: bool
@@ -134,7 +136,6 @@ class ModelWarp(PyTreeNode):
   flexedge_length0: np.ndarray
   geom_pair_type_count: Tuple[int, ...]
   geom_plugin_index: np.ndarray
-  geompair2hfgeompair: np.ndarray
   has_sdf_geom: bool
   jnt_limited_ball_adr: np.ndarray
   jnt_limited_slide_hinge_adr: np.ndarray
@@ -167,6 +168,9 @@ class ModelWarp(PyTreeNode):
   nxn_geom_pair_filtered: np.ndarray
   nxn_pairid: np.ndarray
   nxn_pairid_filtered: np.ndarray
+  oct_aabb: np.ndarray
+  oct_child: np.ndarray
+  oct_coeff: np.ndarray
   plugin: np.ndarray
   plugin_attr: np.ndarray
   qLD_updates: Tuple[np.ndarray, ...]
@@ -223,7 +227,6 @@ class DataWarp(PyTreeNode):
   cfrc_ext: jax.Array
   cfrc_int: jax.Array
   cinert: jax.Array
-  collision_hftri_index: jax.Array
   collision_pair: jax.Array
   collision_pairid: jax.Array
   collision_worldid: jax.Array
@@ -295,10 +298,19 @@ class DataWarp(PyTreeNode):
   inverse_mul_m_skip: jax.Array
   light_xdir: jax.Array
   light_xpos: jax.Array
+  multiccd_clipped: jax.Array
+  multiccd_endvert: jax.Array
+  multiccd_face1: jax.Array
+  multiccd_face2: jax.Array
+  multiccd_idx1: jax.Array
+  multiccd_idx2: jax.Array
+  multiccd_n1: jax.Array
+  multiccd_n2: jax.Array
+  multiccd_pdist: jax.Array
+  multiccd_pnormal: jax.Array
+  multiccd_polygon: jax.Array
   ncollision: jax.Array
   ncon: jax.Array
-  ncon_hfield: jax.Array
-  ncon_world: jax.Array
   nconmax: int
   ne: jax.Array
   ne_connect: jax.Array
@@ -359,7 +371,6 @@ class DataWarp(PyTreeNode):
   wrap_xpos: jax.Array
   shape = property(lambda self: self.cacc.shape)
 DATA_NON_VMAP = {
-    'collision_hftri_index',
     'collision_pair',
     'collision_pairid',
     'collision_worldid',
@@ -387,6 +398,17 @@ DATA_NON_VMAP = {
     'epa_vert_index1',
     'epa_vert_index2',
     'geom_skip',
+    'multiccd_clipped',
+    'multiccd_endvert',
+    'multiccd_face1',
+    'multiccd_face2',
+    'multiccd_idx1',
+    'multiccd_idx2',
+    'multiccd_n1',
+    'multiccd_n2',
+    'multiccd_pdist',
+    'multiccd_pnormal',
+    'multiccd_polygon',
     'ncollision',
     'ncon',
     'nconmax',
@@ -440,7 +462,6 @@ _NDIM = {
         'cfrc_ext': 3,
         'cfrc_int': 3,
         'cinert': 3,
-        'collision_hftri_index': 1,
         'collision_pair': 2,
         'collision_pairid': 1,
         'collision_worldid': 1,
@@ -519,10 +540,19 @@ _NDIM = {
         'light_xpos': 3,
         'mocap_pos': 3,
         'mocap_quat': 3,
+        'multiccd_clipped': 3,
+        'multiccd_endvert': 3,
+        'multiccd_face1': 3,
+        'multiccd_face2': 3,
+        'multiccd_idx1': 2,
+        'multiccd_idx2': 2,
+        'multiccd_n1': 3,
+        'multiccd_n2': 3,
+        'multiccd_pdist': 2,
+        'multiccd_pnormal': 3,
+        'multiccd_polygon': 3,
         'ncollision': 1,
         'ncon': 1,
-        'ncon_hfield': 2,
-        'ncon_world': 1,
         'nconmax': 0,
         'ne': 1,
         'ne_connect': 1,
@@ -750,7 +780,6 @@ _NDIM = {
         'geom_solmix': 2,
         'geom_solref': 3,
         'geom_type': 1,
-        'geompair2hfgeompair': 1,
         'has_sdf_geom': 0,
         'hfield_adr': 1,
         'hfield_data': 1,
@@ -850,9 +879,14 @@ _NDIM = {
         'nxn_geom_pair_filtered': 2,
         'nxn_pairid': 1,
         'nxn_pairid_filtered': 1,
+        'oct_aabb': 3,
+        'oct_child': 2,
+        'oct_coeff': 2,
         'opt__broadphase': 0,
         'opt__broadphase_filter': 0,
+        'opt__ccd_tolerance': 1,
         'opt__cone': 0,
+        'opt__contact_sensor_maxmatch': 0,
         'opt__density': 1,
         'opt__disableflags': 0,
         'opt__enableflags': 0,
@@ -971,7 +1005,9 @@ _NDIM = {
     'Option': {
         'broadphase': 0,
         'broadphase_filter': 0,
+        'ccd_tolerance': 1,
         'cone': 0,
+        'contact_sensor_maxmatch': 0,
         'density': 1,
         'disableflags': 0,
         'enableflags': 0,
@@ -1021,7 +1057,6 @@ _BATCH_DIM = {
         'cfrc_ext': True,
         'cfrc_int': True,
         'cinert': True,
-        'collision_hftri_index': False,
         'collision_pair': False,
         'collision_pairid': False,
         'collision_worldid': False,
@@ -1100,10 +1135,19 @@ _BATCH_DIM = {
         'light_xpos': True,
         'mocap_pos': True,
         'mocap_quat': True,
+        'multiccd_clipped': False,
+        'multiccd_endvert': False,
+        'multiccd_face1': False,
+        'multiccd_face2': False,
+        'multiccd_idx1': False,
+        'multiccd_idx2': False,
+        'multiccd_n1': False,
+        'multiccd_n2': False,
+        'multiccd_pdist': False,
+        'multiccd_pnormal': False,
+        'multiccd_polygon': False,
         'ncollision': False,
         'ncon': False,
-        'ncon_hfield': True,
-        'ncon_world': True,
         'nconmax': False,
         'ne': True,
         'ne_connect': True,
@@ -1331,7 +1375,6 @@ _BATCH_DIM = {
         'geom_solmix': True,
         'geom_solref': True,
         'geom_type': False,
-        'geompair2hfgeompair': False,
         'has_sdf_geom': False,
         'hfield_adr': False,
         'hfield_data': False,
@@ -1431,9 +1474,14 @@ _BATCH_DIM = {
         'nxn_geom_pair_filtered': False,
         'nxn_pairid': False,
         'nxn_pairid_filtered': False,
+        'oct_aabb': False,
+        'oct_child': False,
+        'oct_coeff': False,
         'opt__broadphase': False,
         'opt__broadphase_filter': False,
+        'opt__ccd_tolerance': True,
         'opt__cone': False,
+        'opt__contact_sensor_maxmatch': False,
         'opt__density': True,
         'opt__disableflags': False,
         'opt__enableflags': False,
@@ -1552,7 +1600,9 @@ _BATCH_DIM = {
     'Option': {
         'broadphase': False,
         'broadphase_filter': False,
+        'ccd_tolerance': True,
         'cone': False,
+        'contact_sensor_maxmatch': False,
         'density': True,
         'disableflags': False,
         'enableflags': False,
diff --git a/mjx/pyproject.toml b/mjx/pyproject.toml
index 454df05e..dd5072f4 100644
--- a/mjx/pyproject.toml
+++ b/mjx/pyproject.toml
@@ -36,7 +36,7 @@ dependencies = [
 
 [project.optional-dependencies]
 warp = [
-    "warp-lang==1.8.1",
+    "warp-lang==1.9.0",
 ]
 
 [project.scripts]