inline allocations for sap broadphase arrays

[thowell]

allocate arrays for sap broadphase inline and remove the corresponding fields from Data. additionally:

• update segmented_sort kernel to have output arrays (previously was updating the input arrays)
• for the call to wp.utils.segmented_sort_pairs provide start and end indices as inputs instead of start indices with num_segments + 1 to include the last index) warp reference: https://github.com/NVIDIA/warp/blob/898ef18b3dac8f733909ce91fdea6de20ea5a946/warp/_src/utils.py#L198

[adenzler-nvidia]

@nvtw could you have a look please?

[nvtw]

Looks good. I have no experience with allocating memory as part of a graph but I assume you verified that it works.