Refactor world_mask data type from int32 to bool

Author: aserifi

source/isaaclab_newton/isaaclab_newton/physics/newton_manager.py

@@ -108,51 +108,51 @@ def _sync_particle_points(
 def _or_reset_masks_from_mask(
     env_mask: wp.array(dtype=wp.bool),
     articulation_ids: wp.array2d(dtype=int),
-    world_mask: wp.array(dtype=wp.int32),
+    world_mask: wp.array(dtype=wp.bool),
     fk_mask: wp.array(dtype=wp.bool),
 ):
     """OR env_mask into world_mask and set corresponding articulation bits in fk_mask."""
     world, arti = wp.tid()
     if env_mask[world]:
-        world_mask[world] = wp.int32(1)
+        world_mask[world] = True
         fk_mask[articulation_ids[world, arti]] = True
 
 
 @wp.kernel(enable_backward=False)
 def _scatter_reset_masks_from_ids(
     env_ids: wp.array(dtype=int),
     articulation_ids: wp.array2d(dtype=int),
-    world_mask: wp.array(dtype=wp.int32),
+    world_mask: wp.array(dtype=wp.bool),
     fk_mask: wp.array(dtype=wp.bool),
 ):
     """Scatter-set world_mask and fk_mask from sparse env_ids."""
     i, arti = wp.tid()
     world = env_ids[i]
-    world_mask[world] = wp.int32(1)
+    world_mask[world] = True
     fk_mask[articulation_ids[world, arti]] = True
 
 
 @wp.kernel(enable_backward=False)
 def _or_world_mask_from_env_mask(
     env_mask: wp.array(dtype=wp.bool),
-    world_mask: wp.array(dtype=wp.int32),
+    world_mask: wp.array(dtype=wp.bool),
 ):
     """OR env_mask into world_mask. Used when articulation_ids is unavailable
     (e.g. closed-loop assets whose root view does not expose them)."""
     world = wp.tid()
     if env_mask[world]:
-        world_mask[world] = wp.int32(1)
+        world_mask[world] = True
 
 
 @wp.kernel(enable_backward=False)
 def _scatter_world_mask_from_ids(
     env_ids: wp.array(dtype=int),
-    world_mask: wp.array(dtype=wp.int32),
+    world_mask: wp.array(dtype=wp.bool),
 ):
     """Scatter-set world_mask from sparse env_ids. Used when articulation_ids
     is unavailable (e.g. closed-loop assets whose root view does not expose them)."""
     i = wp.tid()
-    world_mask[env_ids[i]] = wp.int32(1)
+    world_mask[env_ids[i]] = True
 
 
 class NewtonSceneDataBackend(SceneDataBackend):