warp-lang 1.0.2__py3-none-macosx_10_13_universal2.whl → 1.1.0__py3-none-macosx_10_13_universal2.whl

warp/native/svd.h

@@ -1,562 +1,562 @@
-/** Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
- * NVIDIA CORPORATION and its licensors retain all intellectual property
- * and proprietary rights in and to this software, related documentation
- * and any modifications thereto.  Any use, reproduction, disclosure or
- * distribution of this software and related documentation without an express
- * license agreement from NVIDIA CORPORATION is strictly prohibited.
- */
-
-// The MIT License (MIT)
-
-// Copyright (c) 2014 Eric V. Jang
-
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-
-// The above copyright notice and this permission notice shall be included in all
-// copies or substantial portions of the Software.
-
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-// SOFTWARE.
-
-// Source: https://github.com/ericjang/svd3/blob/master/svd3_cuda/svd3_cuda.h
-
-
-#pragma once
-
-#include "builtin.h"
-
-namespace wp
-{
-
-#define _gamma 5.828427124 // FOUR_GAMMA_SQUARED = sqrt(8)+3;
-#define _cstar 0.923879532 // cos(pi/8)
-#define _sstar 0.3826834323 // sin(p/8)
-#define _EPSILON 1e-6
-
-// TODO: replace sqrt with rsqrt
-
-template<typename Type>
-inline CUDA_CALLABLE
-Type accurateSqrt(Type x)
-{
-  return x / sqrt(x);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void condSwap(bool c, Type &X, Type &Y)
-{
-    // used in step 2
-    Type Z = X;
-    X = c ? Y : X;
-    Y = c ? Z : Y;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void condNegSwap(bool c, Type &X, Type &Y)
-{
-    // used in step 2 and 3
-    Type Z = -X;
-    X = c ? Y : X;
-    Y = c ? Z : Y;
-}
-
-// matrix multiplication M = A * B
-template<typename Type>
-inline CUDA_CALLABLE
-void multAB(Type a11, Type a12, Type a13,
-          Type a21, Type a22, Type a23,
-          Type a31, Type a32, Type a33,
-          //
-          Type b11, Type b12, Type b13,
-          Type b21, Type b22, Type b23,
-          Type b31, Type b32, Type b33,
-          //
-          Type &m11, Type &m12, Type &m13,
-          Type &m21, Type &m22, Type &m23,
-          Type &m31, Type &m32, Type &m33)
-{
-
-    m11=a11*b11 + a12*b21 + a13*b31; m12=a11*b12 + a12*b22 + a13*b32; m13=a11*b13 + a12*b23 + a13*b33;
-    m21=a21*b11 + a22*b21 + a23*b31; m22=a21*b12 + a22*b22 + a23*b32; m23=a21*b13 + a22*b23 + a23*b33;
-    m31=a31*b11 + a32*b21 + a33*b31; m32=a31*b12 + a32*b22 + a33*b32; m33=a31*b13 + a32*b23 + a33*b33;
-}
-
-// matrix multiplication M = Transpose[A] * B
-template<typename Type>
-inline CUDA_CALLABLE
-void multAtB(Type a11, Type a12, Type a13,
-          Type a21, Type a22, Type a23,
-          Type a31, Type a32, Type a33,
-          //
-          Type b11, Type b12, Type b13,
-          Type b21, Type b22, Type b23,
-          Type b31, Type b32, Type b33,
-          //
-          Type &m11, Type &m12, Type &m13,
-          Type &m21, Type &m22, Type &m23,
-          Type &m31, Type &m32, Type &m33)
-{
-  m11=a11*b11 + a21*b21 + a31*b31; m12=a11*b12 + a21*b22 + a31*b32; m13=a11*b13 + a21*b23 + a31*b33;
-  m21=a12*b11 + a22*b21 + a32*b31; m22=a12*b12 + a22*b22 + a32*b32; m23=a12*b13 + a22*b23 + a32*b33;
-  m31=a13*b11 + a23*b21 + a33*b31; m32=a13*b12 + a23*b22 + a33*b32; m33=a13*b13 + a23*b23 + a33*b33;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void quatToMat3(const Type * qV,
-Type &m11, Type &m12, Type &m13,
-Type &m21, Type &m22, Type &m23,
-Type &m31, Type &m32, Type &m33
-)
-{
-    Type w = qV[3];
-    Type x = qV[0];
-    Type y = qV[1];
-    Type z = qV[2];
-
-    Type qxx = x*x;
-    Type qyy = y*y;
-    Type qzz = z*z;
-    Type qxz = x*z;
-    Type qxy = x*y;
-    Type qyz = y*z;
-    Type qwx = w*x;
-    Type qwy = w*y;
-    Type qwz = w*z;
-
-    m11=Type(1) - Type(2)*(qyy + qzz); m12=Type(2)*(qxy - qwz); m13=Type(2)*(qxz + qwy);
-    m21=Type(2)*(qxy + qwz); m22=Type(1) - Type(2)*(qxx + qzz); m23=Type(2)*(qyz - qwx);
-    m31=Type(2)*(qxz - qwy); m32=Type(2)*(qyz + qwx); m33=Type(1) - Type(2)*(qxx + qyy);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void approximateGivensQuaternion(Type a11, Type a12, Type a22, Type &ch, Type &sh)
-{
-/*
-     * Given givens angle computed by approximateGivensAngles,
-     * compute the corresponding rotation quaternion.
-     */
-    ch = Type(2)*(a11-a22);
-    sh = a12;
-    bool b = _gamma*sh*sh < ch*ch;
-    Type w = Type(1) / sqrt(ch*ch+sh*sh);
-    ch=b?w*ch:Type(_cstar);
-    sh=b?w*sh:Type(_sstar);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void jacobiConjugation( const int x, const int y, const int z,
-                        Type &s11,
-                        Type &s21, Type &s22,
-                        Type &s31, Type &s32, Type &s33,
-                        Type * qV)
-{
-    Type ch,sh;
-    approximateGivensQuaternion(s11,s21,s22,ch,sh);
-
-    Type scale = ch*ch+sh*sh;
-    Type a = (ch*ch-sh*sh)/scale;
-    Type b = (Type(2)*sh*ch)/scale;
-
-    // make temp copy of S
-    Type _s11 = s11;
-    Type _s21 = s21; Type _s22 = s22;
-    Type _s31 = s31; Type _s32 = s32; Type _s33 = s33;
-
-    // perform conjugation S = Q'*S*Q
-    // Q already implicitly solved from a, b
-    s11 =a*(a*_s11 + b*_s21) + b*(a*_s21 + b*_s22);
-    s21 =a*(-b*_s11 + a*_s21) + b*(-b*_s21 + a*_s22);	s22=-b*(-b*_s11 + a*_s21) + a*(-b*_s21 + a*_s22);
-    s31 =a*_s31 + b*_s32;								s32=-b*_s31 + a*_s32; s33=_s33;
-
-    // update cumulative rotation qV
-    Type tmp[3];
-    tmp[0]=qV[0]*sh;
-    tmp[1]=qV[1]*sh;
-    tmp[2]=qV[2]*sh;
-    sh *= qV[3];
-
-    qV[0] *= ch;
-    qV[1] *= ch;
-    qV[2] *= ch;
-    qV[3] *= ch;
-
-    // (x,y,z) corresponds to ((0,1,2),(1,2,0),(2,0,1))
-    // for (p,q) = ((0,1),(1,2),(0,2))
-    qV[z] += sh;
-    qV[3] -= tmp[z]; // w
-    qV[x] += tmp[y];
-    qV[y] -= tmp[x];
-
-    // re-arrange matrix for next iteration
-    _s11 = s22;
-    _s21 = s32; _s22 = s33;
-    _s31 = s21; _s32 = s31; _s33 = s11;
-    s11 = _s11;
-    s21 = _s21; s22 = _s22;
-    s31 = _s31; s32 = _s32; s33 = _s33;
-
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-Type dist2(Type x, Type y, Type z)
-{
-    return x*x+y*y+z*z;
-}
-
-// finds transformation that diagonalizes a symmetric matrix
-template<typename Type>
-inline CUDA_CALLABLE
-void jacobiEigenanlysis( // symmetric matrix
-                                Type &s11,
-                                Type &s21, Type &s22,
-                                Type &s31, Type &s32, Type &s33,
-                                // quaternion representation of V
-                                Type * qV)
-{
-    qV[3]=1; qV[0]=0;qV[1]=0;qV[2]=0; // follow same indexing convention as GLM
-    for (int i=0;i<4;i++)
-    {
-        // we wish to eliminate the maximum off-diagonal element
-        // on every iteration, but cycling over all 3 possible rotations
-        // in fixed order (p,q) = (1,2) , (2,3), (1,3) still retains
-        //  asymptotic convergence
-        jacobiConjugation(0,1,2,s11,s21,s22,s31,s32,s33,qV); // p,q = 0,1
-        jacobiConjugation(1,2,0,s11,s21,s22,s31,s32,s33,qV); // p,q = 1,2
-        jacobiConjugation(2,0,1,s11,s21,s22,s31,s32,s33,qV); // p,q = 0,2
-    }
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void sortSingularValues(// matrix that we want to decompose
-                            Type &b11, Type &b12, Type &b13,
-                            Type &b21, Type &b22, Type &b23,
-                            Type &b31, Type &b32, Type &b33,
-                          // sort V simultaneously
-                            Type &v11, Type &v12, Type &v13,
-                            Type &v21, Type &v22, Type &v23,
-                            Type &v31, Type &v32, Type &v33)
-{
-    Type rho1 = dist2(b11,b21,b31);
-    Type rho2 = dist2(b12,b22,b32);
-    Type rho3 = dist2(b13,b23,b33);
-    bool c;
-    c = rho1 < rho2;
-    condNegSwap(c,b11,b12); condNegSwap(c,v11,v12);
-    condNegSwap(c,b21,b22); condNegSwap(c,v21,v22);
-    condNegSwap(c,b31,b32); condNegSwap(c,v31,v32);
-    condSwap(c,rho1,rho2);
-    c = rho1 < rho3;
-    condNegSwap(c,b11,b13); condNegSwap(c,v11,v13);
-    condNegSwap(c,b21,b23); condNegSwap(c,v21,v23);
-    condNegSwap(c,b31,b33); condNegSwap(c,v31,v33);
-    condSwap(c,rho1,rho3);
-    c = rho2 < rho3;
-    condNegSwap(c,b12,b13); condNegSwap(c,v12,v13);
-    condNegSwap(c,b22,b23); condNegSwap(c,v22,v23);
-    condNegSwap(c,b32,b33); condNegSwap(c,v32,v33);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void QRGivensQuaternion(Type a1, Type a2, Type &ch, Type &sh)
-{
-    // a1 = pivot point on diagonal
-    // a2 = lower triangular entry we want to annihilate
-    Type epsilon = _EPSILON;
-    Type rho = accurateSqrt(a1*a1 + a2*a2);
-
-    sh = rho > epsilon ? a2 : Type(0);
-    ch = abs(a1) + max(rho,epsilon);
-    bool b = a1 < Type(0);
-    condSwap(b,sh,ch);
-    Type w = Type(1) / sqrt(ch*ch+sh*sh);
-    ch *= w;
-    sh *= w;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void QRDecomposition(// matrix that we want to decompose
-                            Type b11, Type b12, Type b13,
-                            Type b21, Type b22, Type b23,
-                            Type b31, Type b32, Type b33,
-                            // output Q
-                            Type &q11, Type &q12, Type &q13,
-                            Type &q21, Type &q22, Type &q23,
-                            Type &q31, Type &q32, Type &q33,
-                            // output R
-                            Type &r11, Type &r12, Type &r13,
-                            Type &r21, Type &r22, Type &r23,
-                            Type &r31, Type &r32, Type &r33)
-{
-    Type ch1,sh1,ch2,sh2,ch3,sh3;
-    Type a,b;
-
-    // first givens rotation (ch,0,0,sh)
-    QRGivensQuaternion(b11,b21,ch1,sh1);
-    a=Type(1)-Type(2)*sh1*sh1;
-    b=Type(2)*ch1*sh1;
-    // apply B = Q' * B
-    r11=a*b11+b*b21;  r12=a*b12+b*b22;  r13=a*b13+b*b23;
-    r21=-b*b11+a*b21; r22=-b*b12+a*b22; r23=-b*b13+a*b23;
-    r31=b31;          r32=b32;          r33=b33;
-
-    // second givens rotation (ch,0,-sh,0)
-    QRGivensQuaternion(r11,r31,ch2,sh2);
-    a=Type(1)-Type(2)*sh2*sh2;
-    b=Type(2)*ch2*sh2;
-    // apply B = Q' * B;
-    b11=a*r11+b*r31;  b12=a*r12+b*r32;  b13=a*r13+b*r33;
-    b21=r21;           b22=r22;           b23=r23;
-    b31=-b*r11+a*r31; b32=-b*r12+a*r32; b33=-b*r13+a*r33;
-
-    // third givens rotation (ch,sh,0,0)
-    QRGivensQuaternion(b22,b32,ch3,sh3);
-    a=Type(1)-Type(2)*sh3*sh3;
-    b=Type(2)*ch3*sh3;
-    // R is now set to desired value
-    r11=b11;             r12=b12;           r13=b13;
-    r21=a*b21+b*b31;     r22=a*b22+b*b32;   r23=a*b23+b*b33;
-    r31=-b*b21+a*b31;    r32=-b*b22+a*b32;  r33=-b*b23+a*b33;
-
-    // construct the cumulative rotation Q=Q1 * Q2 * Q3
-    // the number of floating point operations for three quaternion multiplications
-    // is more or less comparable to the explicit form of the joined matrix.
-    // certainly more memory-efficient!
-    Type sh12=sh1*sh1;
-    Type sh22=sh2*sh2;
-    Type sh32=sh3*sh3;
-
-    q11=(Type(-1)+Type(2)*sh12)*(Type(-1)+Type(2)*sh22);
-    q12=Type(4)*ch2*ch3*(Type(-1)+Type(2)*sh12)*sh2*sh3+Type(2)*ch1*sh1*(Type(-1)+Type(2)*sh32);
-    q13=Type(4)*ch1*ch3*sh1*sh3-Type(2)*ch2*(Type(-1)+Type(2)*sh12)*sh2*(Type(-1)+Type(2)*sh32);
-
-    q21=Type(2)*ch1*sh1*(Type(1)-Type(2)*sh22);
-    q22=Type(-8)*ch1*ch2*ch3*sh1*sh2*sh3+(Type(-1)+Type(2)*sh12)*(Type(-1)+Type(2)*sh32);
-    q23=Type(-2)*ch3*sh3+Type(4)*sh1*(ch3*sh1*sh3+ch1*ch2*sh2*(Type(-1)+Type(2)*sh32));
-
-    q31=Type(2)*ch2*sh2;
-    q32=Type(2)*ch3*(Type(1)-Type(2)*sh22)*sh3;
-    q33=(Type(-1)+Type(2)*sh22)*(Type(-1)+Type(2)*sh32);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE
-void _svd(// input A
-        Type a11, Type a12, Type a13,
-        Type a21, Type a22, Type a23,
-        Type a31, Type a32, Type a33,
-        // output U
-        Type &u11, Type &u12, Type &u13,
-        Type &u21, Type &u22, Type &u23,
-        Type &u31, Type &u32, Type &u33,
-        // output S
-        Type &s11, Type &s12, Type &s13,
-        Type &s21, Type &s22, Type &s23,
-        Type &s31, Type &s32, Type &s33,
-        // output V
-        Type &v11, Type &v12, Type &v13,
-        Type &v21, Type &v22, Type &v23,
-        Type &v31, Type &v32, Type &v33)
-{
-    // normal equations matrix
-    Type ATA11, ATA12, ATA13;
-    Type ATA21, ATA22, ATA23;
-    Type ATA31, ATA32, ATA33;
-
-    multAtB(a11,a12,a13,a21,a22,a23,a31,a32,a33,
-          a11,a12,a13,a21,a22,a23,a31,a32,a33,
-          ATA11,ATA12,ATA13,ATA21,ATA22,ATA23,ATA31,ATA32,ATA33);
-
-    // symmetric eigenalysis
-    Type qV[4];
-    jacobiEigenanlysis( ATA11,ATA21,ATA22, ATA31,ATA32,ATA33,qV);
-    quatToMat3(qV,v11,v12,v13,v21,v22,v23,v31,v32,v33);
-
-    Type b11, b12, b13;
-    Type b21, b22, b23;
-    Type b31, b32, b33;
-    multAB(a11,a12,a13,a21,a22,a23,a31,a32,a33,
-        v11,v12,v13,v21,v22,v23,v31,v32,v33,
-        b11, b12, b13, b21, b22, b23, b31, b32, b33);
-
-    // sort singular values and find V
-    sortSingularValues(b11, b12, b13, b21, b22, b23, b31, b32, b33,
-                        v11,v12,v13,v21,v22,v23,v31,v32,v33);
-
-    // QR decomposition
-    QRDecomposition(b11, b12, b13, b21, b22, b23, b31, b32, b33,
-    u11, u12, u13, u21, u22, u23, u31, u32, u33,
-    s11, s12, s13, s21, s22, s23, s31, s32, s33
-    );
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void svd3(const mat_t<3,3,Type>& A, mat_t<3,3,Type>& U, vec_t<3,Type>& sigma, mat_t<3,3,Type>& V) {
-  Type s12, s13, s21, s23, s31, s32;
-  _svd(A.data[0][0], A.data[0][1], A.data[0][2],
-       A.data[1][0], A.data[1][1], A.data[1][2],
-       A.data[2][0], A.data[2][1], A.data[2][2],
-
-       U.data[0][0], U.data[0][1], U.data[0][2],
-       U.data[1][0], U.data[1][1], U.data[1][2],
-       U.data[2][0], U.data[2][1], U.data[2][2],
-
-       sigma[0], s12, s13,
-       s21, sigma[1], s23,
-       s31, s32, sigma[2],
-
-       V.data[0][0], V.data[0][1], V.data[0][2],
-       V.data[1][0], V.data[1][1], V.data[1][2],
-       V.data[2][0], V.data[2][1], V.data[2][2]);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_svd3(const mat_t<3,3,Type>& A,
-                                  const mat_t<3,3,Type>& U,
-                                  const vec_t<3,Type>& sigma,
-                                  const mat_t<3,3,Type>& V,
-                                  mat_t<3,3,Type>& adj_A,
-                                  const mat_t<3,3,Type>& adj_U,
-                                  const vec_t<3,Type>& adj_sigma,
-                                  const mat_t<3,3,Type>& adj_V) {
-  Type sx2 = sigma[0] * sigma[0];
-  Type sy2 = sigma[1] * sigma[1];
-  Type sz2 = sigma[2] * sigma[2];
-
-  Type F01 = Type(1) / min(sy2 - sx2, Type(-1e-6f));
-  Type F02 = Type(1) / min(sz2 - sx2, Type(-1e-6f));
-  Type F12 = Type(1) / min(sz2 - sy2, Type(-1e-6f));
-
-  mat_t<3,3,Type> F = mat_t<3,3,Type>(0, F01, F02,
-                  -F01, 0, F12,
-                  -F02, -F12, 0);
-
-  mat_t<3,3,Type> adj_sigma_mat = mat_t<3,3,Type>(adj_sigma[0], 0, 0,
-                              0, adj_sigma[1], 0,
-                              0, 0, adj_sigma[2]);
-  mat_t<3,3,Type> s_mat = mat_t<3,3,Type>(sigma[0], 0, 0,
-                      0, sigma[1], 0,
-                      0, 0, sigma[2]);
-
-  // https://github.com/pytorch/pytorch/blob/d7ddae8e4fe66fa1330317673438d1eb5aa99ca4/torch/csrc/autograd/FunctionsManual.cpp
-  mat_t<3,3,Type> UT = transpose(U);
-  mat_t<3,3,Type> VT = transpose(V);
-
-  mat_t<3,3,Type> sigma_term = mul(U, mul(adj_sigma_mat, VT));
-
-  mat_t<3,3,Type> u_term = mul(mul(U, mul(cw_mul(F, (mul(UT, adj_U) - mul(transpose(adj_U), U))), s_mat)), VT);
-  mat_t<3,3,Type> v_term = mul(U, mul(s_mat, mul(cw_mul(F, (mul(VT, adj_V) - mul(transpose(adj_V), V))), VT)));
-
-  adj_A = adj_A + (u_term + v_term + sigma_term);
-}
-
-
-template<typename Type>
-inline CUDA_CALLABLE void qr3(const mat_t<3,3,Type>& A, mat_t<3,3,Type>& Q, mat_t<3,3,Type>& R) {
-    QRDecomposition(A.data[0][0], A.data[0][1], A.data[0][2],
-       A.data[1][0], A.data[1][1], A.data[1][2],
-       A.data[2][0], A.data[2][1], A.data[2][2],
-       
-       Q.data[0][0], Q.data[0][1], Q.data[0][2],
-       Q.data[1][0], Q.data[1][1], Q.data[1][2],
-       Q.data[2][0], Q.data[2][1], Q.data[2][2],
-
-       R.data[0][0], R.data[0][1], R.data[0][2],
-       R.data[1][0], R.data[1][1], R.data[1][2],
-       R.data[2][0], R.data[2][1], R.data[2][2]);       
-}
-
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_qr3(const mat_t<3,3,Type>& A,
-                                  const mat_t<3,3,Type>& Q,                                  
-                                  const mat_t<3,3,Type>& R,
-                                  mat_t<3,3,Type>& adj_A,
-                                  const mat_t<3,3,Type>& adj_Q,
-                                  const mat_t<3,3,Type>& adj_R) {
-    // Eq 3 of https://arxiv.org/pdf/2009.10071.pdf
-    mat_t<3,3,Type> M = mul(R,transpose(adj_R)) - mul(transpose(adj_Q), Q);
-    mat_t<3,3,Type> copyltuM = mat_t<3,3,Type>(M.data[0][0], M.data[1][0], M.data[2][0],
-                           M.data[1][0], M.data[1][1], M.data[2][1],
-                           M.data[2][0], M.data[2][1], M.data[2][2]);
-    adj_A = adj_A + mul(adj_Q + mul(Q,copyltuM), inverse(transpose(R)));
-}
-
-
-template<typename Type>
-inline CUDA_CALLABLE void eig3(const mat_t<3,3,Type>& A, mat_t<3,3,Type>& Q, vec_t<3,Type>& d) {
-    Type qV[4];
-    Type s11 = A.data[0][0];
-    Type s21 = A.data[1][0];
-    Type s22 = A.data[1][1];
-    Type s31 = A.data[2][0];
-    Type s32 = A.data[2][1];
-    Type s33 = A.data[2][2];
-                       
-    jacobiEigenanlysis(s11, s21, s22, s31, s32, s33, qV);
-    quatToMat3(qV, Q.data[0][0], Q.data[0][1], Q.data[0][2], Q.data[1][0], Q.data[1][1], Q.data[1][2], Q.data[2][0], Q.data[2][1], Q.data[2][2]);
-    mat_t<3,3,Type> t;
-    multAtB(Q.data[0][0], Q.data[0][1], Q.data[0][2], Q.data[1][0], Q.data[1][1], Q.data[1][2], Q.data[2][0], Q.data[2][1], Q.data[2][2],
-            A.data[0][0], A.data[0][1], A.data[0][2], A.data[1][0], A.data[1][1], A.data[1][2], A.data[2][0], A.data[2][1], A.data[2][2],
-            t.data[0][0], t.data[0][1], t.data[0][2], t.data[1][0], t.data[1][1], t.data[1][2], t.data[2][0], t.data[2][1], t.data[2][2]);
-
-    mat_t<3,3,Type> u;
-    multAB(t.data[0][0], t.data[0][1], t.data[0][2], t.data[1][0], t.data[1][1], t.data[1][2], t.data[2][0], t.data[2][1], t.data[2][2],
-           Q.data[0][0], Q.data[0][1], Q.data[0][2], Q.data[1][0], Q.data[1][1], Q.data[1][2], Q.data[2][0], Q.data[2][1], Q.data[2][2],           
-           u.data[0][0], u.data[0][1], u.data[0][2], u.data[1][0], u.data[1][1], u.data[1][2], u.data[2][0], u.data[2][1], u.data[2][2]
-           );
-    d = vec_t<3,Type>(u.data[0][0], u.data[1][1], u.data[2][2]);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_eig3(const mat_t<3,3,Type>& A, const mat_t<3,3,Type>& Q, const vec_t<3,Type>& d, 
-                                     mat_t<3,3,Type>& adj_A, const mat_t<3,3,Type>& adj_Q, const vec_t<3,Type>& adj_d) {
-    // Page 10 of https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf
-    mat_t<3,3,Type> D = mat_t<3,3,Type>(d[0], 0, 0,
-                    0, d[1], 0,
-                    0, 0, d[2]);
-    mat_t<3,3,Type> D_bar = mat_t<3,3,Type>(adj_d[0], 0, 0,
-                    0, adj_d[1], 0,
-                    0, 0, adj_d[2]);
-                    
-    Type dyx = d[1] - d[0];
-    Type dzx = d[2] - d[0];
-    Type dzy = d[2] - d[1];
-
-    if ((dyx < Type(0)) && (dyx > Type(-1e-6))) dyx = -1e-6;
-    if ((dyx > Type(0)) && (dyx < Type(1e-6))) dyx = 1e-6;
-
-    if ((dzx < Type(0)) && (dzx > Type(-1e-6))) dzx = -1e-6;
-    if ((dzx > Type(0)) && (dzx < Type(1e-6))) dzx = 1e-6;
-
-    if ((dzy < Type(0)) && (dzy > Type(-1e-6))) dzy = -1e-6;
-    if ((dzy > Type(0)) && (dzy < Type(1e-6))) dzy = 1e-6;
-
-    Type F01 = Type(1) / dyx;
-    Type F02 = Type(1) / dzx;
-    Type F12 = Type(1) / dzy;
-    mat_t<3,3,Type> F = mat_t<3,3,Type>(0, F01, F02,
-                 -F01, 0, F12,
-                 -F02, -F12, 0);
-    mat_t<3,3,Type> QT = transpose(Q);
-    adj_A = adj_A + mul(Q, mul(D_bar + cw_mul(F, mul(QT, adj_Q)), QT));
-}
-}
+/** Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+ * NVIDIA CORPORATION and its licensors retain all intellectual property
+ * and proprietary rights in and to this software, related documentation
+ * and any modifications thereto.  Any use, reproduction, disclosure or
+ * distribution of this software and related documentation without an express
+ * license agreement from NVIDIA CORPORATION is strictly prohibited.
+ */
+
+// The MIT License (MIT)
+
+// Copyright (c) 2014 Eric V. Jang
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+// Source: https://github.com/ericjang/svd3/blob/master/svd3_cuda/svd3_cuda.h
+
+
+#pragma once
+
+#include "builtin.h"
+
+namespace wp
+{
+
+#define _gamma 5.828427124 // FOUR_GAMMA_SQUARED = sqrt(8)+3;
+#define _cstar 0.923879532 // cos(pi/8)
+#define _sstar 0.3826834323 // sin(p/8)
+#define _EPSILON 1e-6
+
+// TODO: replace sqrt with rsqrt
+
+template<typename Type>
+inline CUDA_CALLABLE
+Type accurateSqrt(Type x)
+{
+  return x / sqrt(x);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void condSwap(bool c, Type &X, Type &Y)
+{
+    // used in step 2
+    Type Z = X;
+    X = c ? Y : X;
+    Y = c ? Z : Y;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void condNegSwap(bool c, Type &X, Type &Y)
+{
+    // used in step 2 and 3
+    Type Z = -X;
+    X = c ? Y : X;
+    Y = c ? Z : Y;
+}
+
+// matrix multiplication M = A * B
+template<typename Type>
+inline CUDA_CALLABLE
+void multAB(Type a11, Type a12, Type a13,
+          Type a21, Type a22, Type a23,
+          Type a31, Type a32, Type a33,
+          //
+          Type b11, Type b12, Type b13,
+          Type b21, Type b22, Type b23,
+          Type b31, Type b32, Type b33,
+          //
+          Type &m11, Type &m12, Type &m13,
+          Type &m21, Type &m22, Type &m23,
+          Type &m31, Type &m32, Type &m33)
+{
+
+    m11=a11*b11 + a12*b21 + a13*b31; m12=a11*b12 + a12*b22 + a13*b32; m13=a11*b13 + a12*b23 + a13*b33;
+    m21=a21*b11 + a22*b21 + a23*b31; m22=a21*b12 + a22*b22 + a23*b32; m23=a21*b13 + a22*b23 + a23*b33;
+    m31=a31*b11 + a32*b21 + a33*b31; m32=a31*b12 + a32*b22 + a33*b32; m33=a31*b13 + a32*b23 + a33*b33;
+}
+
+// matrix multiplication M = Transpose[A] * B
+template<typename Type>
+inline CUDA_CALLABLE
+void multAtB(Type a11, Type a12, Type a13,
+          Type a21, Type a22, Type a23,
+          Type a31, Type a32, Type a33,
+          //
+          Type b11, Type b12, Type b13,
+          Type b21, Type b22, Type b23,
+          Type b31, Type b32, Type b33,
+          //
+          Type &m11, Type &m12, Type &m13,
+          Type &m21, Type &m22, Type &m23,
+          Type &m31, Type &m32, Type &m33)
+{
+  m11=a11*b11 + a21*b21 + a31*b31; m12=a11*b12 + a21*b22 + a31*b32; m13=a11*b13 + a21*b23 + a31*b33;
+  m21=a12*b11 + a22*b21 + a32*b31; m22=a12*b12 + a22*b22 + a32*b32; m23=a12*b13 + a22*b23 + a32*b33;
+  m31=a13*b11 + a23*b21 + a33*b31; m32=a13*b12 + a23*b22 + a33*b32; m33=a13*b13 + a23*b23 + a33*b33;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void quatToMat3(const Type * qV,
+Type &m11, Type &m12, Type &m13,
+Type &m21, Type &m22, Type &m23,
+Type &m31, Type &m32, Type &m33
+)
+{
+    Type w = qV[3];
+    Type x = qV[0];
+    Type y = qV[1];
+    Type z = qV[2];
+
+    Type qxx = x*x;
+    Type qyy = y*y;
+    Type qzz = z*z;
+    Type qxz = x*z;
+    Type qxy = x*y;
+    Type qyz = y*z;
+    Type qwx = w*x;
+    Type qwy = w*y;
+    Type qwz = w*z;
+
+    m11=Type(1) - Type(2)*(qyy + qzz); m12=Type(2)*(qxy - qwz); m13=Type(2)*(qxz + qwy);
+    m21=Type(2)*(qxy + qwz); m22=Type(1) - Type(2)*(qxx + qzz); m23=Type(2)*(qyz - qwx);
+    m31=Type(2)*(qxz - qwy); m32=Type(2)*(qyz + qwx); m33=Type(1) - Type(2)*(qxx + qyy);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void approximateGivensQuaternion(Type a11, Type a12, Type a22, Type &ch, Type &sh)
+{
+/*
+     * Given givens angle computed by approximateGivensAngles,
+     * compute the corresponding rotation quaternion.
+     */
+    ch = Type(2)*(a11-a22);
+    sh = a12;
+    bool b = _gamma*sh*sh < ch*ch;
+    Type w = Type(1) / sqrt(ch*ch+sh*sh);
+    ch=b?w*ch:Type(_cstar);
+    sh=b?w*sh:Type(_sstar);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void jacobiConjugation( const int x, const int y, const int z,
+                        Type &s11,
+                        Type &s21, Type &s22,
+                        Type &s31, Type &s32, Type &s33,
+                        Type * qV)
+{
+    Type ch,sh;
+    approximateGivensQuaternion(s11,s21,s22,ch,sh);
+
+    Type scale = ch*ch+sh*sh;
+    Type a = (ch*ch-sh*sh)/scale;
+    Type b = (Type(2)*sh*ch)/scale;
+
+    // make temp copy of S
+    Type _s11 = s11;
+    Type _s21 = s21; Type _s22 = s22;
+    Type _s31 = s31; Type _s32 = s32; Type _s33 = s33;
+
+    // perform conjugation S = Q'*S*Q
+    // Q already implicitly solved from a, b
+    s11 =a*(a*_s11 + b*_s21) + b*(a*_s21 + b*_s22);
+    s21 =a*(-b*_s11 + a*_s21) + b*(-b*_s21 + a*_s22);	s22=-b*(-b*_s11 + a*_s21) + a*(-b*_s21 + a*_s22);
+    s31 =a*_s31 + b*_s32;								s32=-b*_s31 + a*_s32; s33=_s33;
+
+    // update cumulative rotation qV
+    Type tmp[3];
+    tmp[0]=qV[0]*sh;
+    tmp[1]=qV[1]*sh;
+    tmp[2]=qV[2]*sh;
+    sh *= qV[3];
+
+    qV[0] *= ch;
+    qV[1] *= ch;
+    qV[2] *= ch;
+    qV[3] *= ch;
+
+    // (x,y,z) corresponds to ((0,1,2),(1,2,0),(2,0,1))
+    // for (p,q) = ((0,1),(1,2),(0,2))
+    qV[z] += sh;
+    qV[3] -= tmp[z]; // w
+    qV[x] += tmp[y];
+    qV[y] -= tmp[x];
+
+    // re-arrange matrix for next iteration
+    _s11 = s22;
+    _s21 = s32; _s22 = s33;
+    _s31 = s21; _s32 = s31; _s33 = s11;
+    s11 = _s11;
+    s21 = _s21; s22 = _s22;
+    s31 = _s31; s32 = _s32; s33 = _s33;
+
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+Type dist2(Type x, Type y, Type z)
+{
+    return x*x+y*y+z*z;
+}
+
+// finds transformation that diagonalizes a symmetric matrix
+template<typename Type>
+inline CUDA_CALLABLE
+void jacobiEigenanlysis( // symmetric matrix
+                                Type &s11,
+                                Type &s21, Type &s22,
+                                Type &s31, Type &s32, Type &s33,
+                                // quaternion representation of V
+                                Type * qV)
+{
+    qV[3]=1; qV[0]=0;qV[1]=0;qV[2]=0; // follow same indexing convention as GLM
+    for (int i=0;i<4;i++)
+    {
+        // we wish to eliminate the maximum off-diagonal element
+        // on every iteration, but cycling over all 3 possible rotations
+        // in fixed order (p,q) = (1,2) , (2,3), (1,3) still retains
+        //  asymptotic convergence
+        jacobiConjugation(0,1,2,s11,s21,s22,s31,s32,s33,qV); // p,q = 0,1
+        jacobiConjugation(1,2,0,s11,s21,s22,s31,s32,s33,qV); // p,q = 1,2
+        jacobiConjugation(2,0,1,s11,s21,s22,s31,s32,s33,qV); // p,q = 0,2
+    }
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void sortSingularValues(// matrix that we want to decompose
+                            Type &b11, Type &b12, Type &b13,
+                            Type &b21, Type &b22, Type &b23,
+                            Type &b31, Type &b32, Type &b33,
+                          // sort V simultaneously
+                            Type &v11, Type &v12, Type &v13,
+                            Type &v21, Type &v22, Type &v23,
+                            Type &v31, Type &v32, Type &v33)
+{
+    Type rho1 = dist2(b11,b21,b31);
+    Type rho2 = dist2(b12,b22,b32);
+    Type rho3 = dist2(b13,b23,b33);
+    bool c;
+    c = rho1 < rho2;
+    condNegSwap(c,b11,b12); condNegSwap(c,v11,v12);
+    condNegSwap(c,b21,b22); condNegSwap(c,v21,v22);
+    condNegSwap(c,b31,b32); condNegSwap(c,v31,v32);
+    condSwap(c,rho1,rho2);
+    c = rho1 < rho3;
+    condNegSwap(c,b11,b13); condNegSwap(c,v11,v13);
+    condNegSwap(c,b21,b23); condNegSwap(c,v21,v23);
+    condNegSwap(c,b31,b33); condNegSwap(c,v31,v33);
+    condSwap(c,rho1,rho3);
+    c = rho2 < rho3;
+    condNegSwap(c,b12,b13); condNegSwap(c,v12,v13);
+    condNegSwap(c,b22,b23); condNegSwap(c,v22,v23);
+    condNegSwap(c,b32,b33); condNegSwap(c,v32,v33);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void QRGivensQuaternion(Type a1, Type a2, Type &ch, Type &sh)
+{
+    // a1 = pivot point on diagonal
+    // a2 = lower triangular entry we want to annihilate
+    Type epsilon = _EPSILON;
+    Type rho = accurateSqrt(a1*a1 + a2*a2);
+
+    sh = rho > epsilon ? a2 : Type(0);
+    ch = abs(a1) + max(rho,epsilon);
+    bool b = a1 < Type(0);
+    condSwap(b,sh,ch);
+    Type w = Type(1) / sqrt(ch*ch+sh*sh);
+    ch *= w;
+    sh *= w;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void QRDecomposition(// matrix that we want to decompose
+                            Type b11, Type b12, Type b13,
+                            Type b21, Type b22, Type b23,
+                            Type b31, Type b32, Type b33,
+                            // output Q
+                            Type &q11, Type &q12, Type &q13,
+                            Type &q21, Type &q22, Type &q23,
+                            Type &q31, Type &q32, Type &q33,
+                            // output R
+                            Type &r11, Type &r12, Type &r13,
+                            Type &r21, Type &r22, Type &r23,
+                            Type &r31, Type &r32, Type &r33)
+{
+    Type ch1,sh1,ch2,sh2,ch3,sh3;
+    Type a,b;
+
+    // first givens rotation (ch,0,0,sh)
+    QRGivensQuaternion(b11,b21,ch1,sh1);
+    a=Type(1)-Type(2)*sh1*sh1;
+    b=Type(2)*ch1*sh1;
+    // apply B = Q' * B
+    r11=a*b11+b*b21;  r12=a*b12+b*b22;  r13=a*b13+b*b23;
+    r21=-b*b11+a*b21; r22=-b*b12+a*b22; r23=-b*b13+a*b23;
+    r31=b31;          r32=b32;          r33=b33;
+
+    // second givens rotation (ch,0,-sh,0)
+    QRGivensQuaternion(r11,r31,ch2,sh2);
+    a=Type(1)-Type(2)*sh2*sh2;
+    b=Type(2)*ch2*sh2;
+    // apply B = Q' * B;
+    b11=a*r11+b*r31;  b12=a*r12+b*r32;  b13=a*r13+b*r33;
+    b21=r21;           b22=r22;           b23=r23;
+    b31=-b*r11+a*r31; b32=-b*r12+a*r32; b33=-b*r13+a*r33;
+
+    // third givens rotation (ch,sh,0,0)
+    QRGivensQuaternion(b22,b32,ch3,sh3);
+    a=Type(1)-Type(2)*sh3*sh3;
+    b=Type(2)*ch3*sh3;
+    // R is now set to desired value
+    r11=b11;             r12=b12;           r13=b13;
+    r21=a*b21+b*b31;     r22=a*b22+b*b32;   r23=a*b23+b*b33;
+    r31=-b*b21+a*b31;    r32=-b*b22+a*b32;  r33=-b*b23+a*b33;
+
+    // construct the cumulative rotation Q=Q1 * Q2 * Q3
+    // the number of floating point operations for three quaternion multiplications
+    // is more or less comparable to the explicit form of the joined matrix.
+    // certainly more memory-efficient!
+    Type sh12=sh1*sh1;
+    Type sh22=sh2*sh2;
+    Type sh32=sh3*sh3;
+
+    q11=(Type(-1)+Type(2)*sh12)*(Type(-1)+Type(2)*sh22);
+    q12=Type(4)*ch2*ch3*(Type(-1)+Type(2)*sh12)*sh2*sh3+Type(2)*ch1*sh1*(Type(-1)+Type(2)*sh32);
+    q13=Type(4)*ch1*ch3*sh1*sh3-Type(2)*ch2*(Type(-1)+Type(2)*sh12)*sh2*(Type(-1)+Type(2)*sh32);
+
+    q21=Type(2)*ch1*sh1*(Type(1)-Type(2)*sh22);
+    q22=Type(-8)*ch1*ch2*ch3*sh1*sh2*sh3+(Type(-1)+Type(2)*sh12)*(Type(-1)+Type(2)*sh32);
+    q23=Type(-2)*ch3*sh3+Type(4)*sh1*(ch3*sh1*sh3+ch1*ch2*sh2*(Type(-1)+Type(2)*sh32));
+
+    q31=Type(2)*ch2*sh2;
+    q32=Type(2)*ch3*(Type(1)-Type(2)*sh22)*sh3;
+    q33=(Type(-1)+Type(2)*sh22)*(Type(-1)+Type(2)*sh32);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE
+void _svd(// input A
+        Type a11, Type a12, Type a13,
+        Type a21, Type a22, Type a23,
+        Type a31, Type a32, Type a33,
+        // output U
+        Type &u11, Type &u12, Type &u13,
+        Type &u21, Type &u22, Type &u23,
+        Type &u31, Type &u32, Type &u33,
+        // output S
+        Type &s11, Type &s12, Type &s13,
+        Type &s21, Type &s22, Type &s23,
+        Type &s31, Type &s32, Type &s33,
+        // output V
+        Type &v11, Type &v12, Type &v13,
+        Type &v21, Type &v22, Type &v23,
+        Type &v31, Type &v32, Type &v33)
+{
+    // normal equations matrix
+    Type ATA11, ATA12, ATA13;
+    Type ATA21, ATA22, ATA23;
+    Type ATA31, ATA32, ATA33;
+
+    multAtB(a11,a12,a13,a21,a22,a23,a31,a32,a33,
+          a11,a12,a13,a21,a22,a23,a31,a32,a33,
+          ATA11,ATA12,ATA13,ATA21,ATA22,ATA23,ATA31,ATA32,ATA33);
+
+    // symmetric eigenalysis
+    Type qV[4];
+    jacobiEigenanlysis( ATA11,ATA21,ATA22, ATA31,ATA32,ATA33,qV);
+    quatToMat3(qV,v11,v12,v13,v21,v22,v23,v31,v32,v33);
+
+    Type b11, b12, b13;
+    Type b21, b22, b23;
+    Type b31, b32, b33;
+    multAB(a11,a12,a13,a21,a22,a23,a31,a32,a33,
+        v11,v12,v13,v21,v22,v23,v31,v32,v33,
+        b11, b12, b13, b21, b22, b23, b31, b32, b33);
+
+    // sort singular values and find V
+    sortSingularValues(b11, b12, b13, b21, b22, b23, b31, b32, b33,
+                        v11,v12,v13,v21,v22,v23,v31,v32,v33);
+
+    // QR decomposition
+    QRDecomposition(b11, b12, b13, b21, b22, b23, b31, b32, b33,
+    u11, u12, u13, u21, u22, u23, u31, u32, u33,
+    s11, s12, s13, s21, s22, s23, s31, s32, s33
+    );
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void svd3(const mat_t<3,3,Type>& A, mat_t<3,3,Type>& U, vec_t<3,Type>& sigma, mat_t<3,3,Type>& V) {
+  Type s12, s13, s21, s23, s31, s32;
+  _svd(A.data[0][0], A.data[0][1], A.data[0][2],
+       A.data[1][0], A.data[1][1], A.data[1][2],
+       A.data[2][0], A.data[2][1], A.data[2][2],
+
+       U.data[0][0], U.data[0][1], U.data[0][2],
+       U.data[1][0], U.data[1][1], U.data[1][2],
+       U.data[2][0], U.data[2][1], U.data[2][2],
+
+       sigma[0], s12, s13,
+       s21, sigma[1], s23,
+       s31, s32, sigma[2],
+
+       V.data[0][0], V.data[0][1], V.data[0][2],
+       V.data[1][0], V.data[1][1], V.data[1][2],
+       V.data[2][0], V.data[2][1], V.data[2][2]);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_svd3(const mat_t<3,3,Type>& A,
+                                  const mat_t<3,3,Type>& U,
+                                  const vec_t<3,Type>& sigma,
+                                  const mat_t<3,3,Type>& V,
+                                  mat_t<3,3,Type>& adj_A,
+                                  const mat_t<3,3,Type>& adj_U,
+                                  const vec_t<3,Type>& adj_sigma,
+                                  const mat_t<3,3,Type>& adj_V) {
+  Type sx2 = sigma[0] * sigma[0];
+  Type sy2 = sigma[1] * sigma[1];
+  Type sz2 = sigma[2] * sigma[2];
+
+  Type F01 = Type(1) / min(sy2 - sx2, Type(-1e-6f));
+  Type F02 = Type(1) / min(sz2 - sx2, Type(-1e-6f));
+  Type F12 = Type(1) / min(sz2 - sy2, Type(-1e-6f));
+
+  mat_t<3,3,Type> F = mat_t<3,3,Type>(0, F01, F02,
+                  -F01, 0, F12,
+                  -F02, -F12, 0);
+
+  mat_t<3,3,Type> adj_sigma_mat = mat_t<3,3,Type>(adj_sigma[0], 0, 0,
+                              0, adj_sigma[1], 0,
+                              0, 0, adj_sigma[2]);
+  mat_t<3,3,Type> s_mat = mat_t<3,3,Type>(sigma[0], 0, 0,
+                      0, sigma[1], 0,
+                      0, 0, sigma[2]);
+
+  // https://github.com/pytorch/pytorch/blob/d7ddae8e4fe66fa1330317673438d1eb5aa99ca4/torch/csrc/autograd/FunctionsManual.cpp
+  mat_t<3,3,Type> UT = transpose(U);
+  mat_t<3,3,Type> VT = transpose(V);
+
+  mat_t<3,3,Type> sigma_term = mul(U, mul(adj_sigma_mat, VT));
+
+  mat_t<3,3,Type> u_term = mul(mul(U, mul(cw_mul(F, (mul(UT, adj_U) - mul(transpose(adj_U), U))), s_mat)), VT);
+  mat_t<3,3,Type> v_term = mul(U, mul(s_mat, mul(cw_mul(F, (mul(VT, adj_V) - mul(transpose(adj_V), V))), VT)));
+
+  adj_A = adj_A + (u_term + v_term + sigma_term);
+}
+
+
+template<typename Type>
+inline CUDA_CALLABLE void qr3(const mat_t<3,3,Type>& A, mat_t<3,3,Type>& Q, mat_t<3,3,Type>& R) {
+    QRDecomposition(A.data[0][0], A.data[0][1], A.data[0][2],
+       A.data[1][0], A.data[1][1], A.data[1][2],
+       A.data[2][0], A.data[2][1], A.data[2][2],
+       
+       Q.data[0][0], Q.data[0][1], Q.data[0][2],
+       Q.data[1][0], Q.data[1][1], Q.data[1][2],
+       Q.data[2][0], Q.data[2][1], Q.data[2][2],
+
+       R.data[0][0], R.data[0][1], R.data[0][2],
+       R.data[1][0], R.data[1][1], R.data[1][2],
+       R.data[2][0], R.data[2][1], R.data[2][2]);       
+}
+
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_qr3(const mat_t<3,3,Type>& A,
+                                  const mat_t<3,3,Type>& Q,                                  
+                                  const mat_t<3,3,Type>& R,
+                                  mat_t<3,3,Type>& adj_A,
+                                  const mat_t<3,3,Type>& adj_Q,
+                                  const mat_t<3,3,Type>& adj_R) {
+    // Eq 3 of https://arxiv.org/pdf/2009.10071.pdf
+    mat_t<3,3,Type> M = mul(R,transpose(adj_R)) - mul(transpose(adj_Q), Q);
+    mat_t<3,3,Type> copyltuM = mat_t<3,3,Type>(M.data[0][0], M.data[1][0], M.data[2][0],
+                           M.data[1][0], M.data[1][1], M.data[2][1],
+                           M.data[2][0], M.data[2][1], M.data[2][2]);
+    adj_A = adj_A + mul(adj_Q + mul(Q,copyltuM), inverse(transpose(R)));
+}
+
+
+template<typename Type>
+inline CUDA_CALLABLE void eig3(const mat_t<3,3,Type>& A, mat_t<3,3,Type>& Q, vec_t<3,Type>& d) {
+    Type qV[4];
+    Type s11 = A.data[0][0];
+    Type s21 = A.data[1][0];
+    Type s22 = A.data[1][1];
+    Type s31 = A.data[2][0];
+    Type s32 = A.data[2][1];
+    Type s33 = A.data[2][2];
+                       
+    jacobiEigenanlysis(s11, s21, s22, s31, s32, s33, qV);
+    quatToMat3(qV, Q.data[0][0], Q.data[0][1], Q.data[0][2], Q.data[1][0], Q.data[1][1], Q.data[1][2], Q.data[2][0], Q.data[2][1], Q.data[2][2]);
+    mat_t<3,3,Type> t;
+    multAtB(Q.data[0][0], Q.data[0][1], Q.data[0][2], Q.data[1][0], Q.data[1][1], Q.data[1][2], Q.data[2][0], Q.data[2][1], Q.data[2][2],
+            A.data[0][0], A.data[0][1], A.data[0][2], A.data[1][0], A.data[1][1], A.data[1][2], A.data[2][0], A.data[2][1], A.data[2][2],
+            t.data[0][0], t.data[0][1], t.data[0][2], t.data[1][0], t.data[1][1], t.data[1][2], t.data[2][0], t.data[2][1], t.data[2][2]);
+
+    mat_t<3,3,Type> u;
+    multAB(t.data[0][0], t.data[0][1], t.data[0][2], t.data[1][0], t.data[1][1], t.data[1][2], t.data[2][0], t.data[2][1], t.data[2][2],
+           Q.data[0][0], Q.data[0][1], Q.data[0][2], Q.data[1][0], Q.data[1][1], Q.data[1][2], Q.data[2][0], Q.data[2][1], Q.data[2][2],           
+           u.data[0][0], u.data[0][1], u.data[0][2], u.data[1][0], u.data[1][1], u.data[1][2], u.data[2][0], u.data[2][1], u.data[2][2]
+           );
+    d = vec_t<3,Type>(u.data[0][0], u.data[1][1], u.data[2][2]);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_eig3(const mat_t<3,3,Type>& A, const mat_t<3,3,Type>& Q, const vec_t<3,Type>& d, 
+                                     mat_t<3,3,Type>& adj_A, const mat_t<3,3,Type>& adj_Q, const vec_t<3,Type>& adj_d) {
+    // Page 10 of https://people.maths.ox.ac.uk/gilesm/files/NA-08-01.pdf
+    mat_t<3,3,Type> D = mat_t<3,3,Type>(d[0], 0, 0,
+                    0, d[1], 0,
+                    0, 0, d[2]);
+    mat_t<3,3,Type> D_bar = mat_t<3,3,Type>(adj_d[0], 0, 0,
+                    0, adj_d[1], 0,
+                    0, 0, adj_d[2]);
+                    
+    Type dyx = d[1] - d[0];
+    Type dzx = d[2] - d[0];
+    Type dzy = d[2] - d[1];
+
+    if ((dyx < Type(0)) && (dyx > Type(-1e-6))) dyx = -1e-6;
+    if ((dyx > Type(0)) && (dyx < Type(1e-6))) dyx = 1e-6;
+
+    if ((dzx < Type(0)) && (dzx > Type(-1e-6))) dzx = -1e-6;
+    if ((dzx > Type(0)) && (dzx < Type(1e-6))) dzx = 1e-6;
+
+    if ((dzy < Type(0)) && (dzy > Type(-1e-6))) dzy = -1e-6;
+    if ((dzy > Type(0)) && (dzy < Type(1e-6))) dzy = 1e-6;
+
+    Type F01 = Type(1) / dyx;
+    Type F02 = Type(1) / dzx;
+    Type F12 = Type(1) / dzy;
+    mat_t<3,3,Type> F = mat_t<3,3,Type>(0, F01, F02,
+                 -F01, 0, F12,
+                 -F02, -F12, 0);
+    mat_t<3,3,Type> QT = transpose(Q);
+    adj_A = adj_A + mul(Q, mul(D_bar + cw_mul(F, mul(QT, adj_Q)), QT));
+}
+}