warp-lang 1.0.2__py3-none-manylinux2014_aarch64.whl → 1.1.0__py3-none-manylinux2014_aarch64.whl

warp/native/mesh.h

@@ -1,1887 +1,1887 @@
-/** 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.
- */
-
-#pragma once
-
-#include "builtin.h"
-#include "bvh.h"
-#include "intersect.h"
-#include "array.h"
-#include "solid_angle.h"
-
-#define BVH_DEBUG 0
-
-namespace wp
-{
-
-struct Mesh
-{
-    array_t<vec3> points;
-    array_t<vec3> velocities;
-
-    array_t<int> indices;
-
-    vec3* lowers;
-    vec3* uppers;
-
-    SolidAngleProps* solid_angle_props;
-
-    int num_points;
-    int num_tris;
-
-    BVH bvh;
-
-    void* context;
-    float average_edge_length;
-
-    inline CUDA_CALLABLE Mesh(int id = 0) 
-    {
-        // for backward a = 0 initialization syntax
-        lowers = nullptr;
-        uppers = nullptr;
-        num_points = 0;
-        num_tris = 0;
-        context = nullptr;
-        solid_angle_props = nullptr;	
-        average_edge_length = 0.0f;
-    }
-
-    inline CUDA_CALLABLE Mesh(
-        array_t<vec3> points,
-        array_t<vec3> velocities,
-        array_t<int> indices,
-        int num_points,
-        int num_tris,
-        void* context = nullptr
-    ) : points(points), velocities(velocities), indices(indices), num_points(num_points), num_tris(num_tris), context(context)
-    {
-        lowers = nullptr;
-        uppers = nullptr;
-        solid_angle_props = nullptr;
-        average_edge_length = 0.0f;
-    }
-};
-
-CUDA_CALLABLE inline Mesh mesh_get(uint64_t id)
-{
-    return *(Mesh*)(id);
-}
-
-
-CUDA_CALLABLE inline Mesh& operator += (Mesh& a, const Mesh& b) {
-    // dummy operator needed for adj_select involving meshes
-    return a;
-}
-
-CUDA_CALLABLE inline float distance_to_aabb_sq(const vec3& p, const vec3& lower, const vec3& upper)
-{
-    vec3 cp = closest_point_to_aabb(p, lower, upper);
-
-    return length_sq(p-cp);
-}
-
-CUDA_CALLABLE inline float furthest_distance_to_aabb_sq(const vec3& p, const vec3& lower, const vec3& upper)
-{
-    vec3 c0 = vec3(lower[0], lower[1], lower[2]);
-    vec3 c1 = vec3(lower[0], lower[1], upper[2]);
-    vec3 c2 = vec3(lower[0], upper[1], lower[2]);
-    vec3 c3 = vec3(lower[0], upper[1], upper[2]);
-    vec3 c4 = vec3(upper[0], lower[1], lower[2]);
-    vec3 c5 = vec3(upper[0], lower[1], upper[2]);
-    vec3 c6 = vec3(upper[0], upper[1], lower[2]);
-    vec3 c7 = vec3(upper[0], upper[1], upper[2]);
-    
-    float max_dist_sq = 0.0;
-    float d;
-
-    d = length_sq(p-c0);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c1);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c2);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c3);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c4);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c5);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c6);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    d = length_sq(p-c7);
-    if (d > max_dist_sq)
-        max_dist_sq = d;
-
-    return max_dist_sq;
-}
-
-CUDA_CALLABLE inline float mesh_query_inside(uint64_t id, const vec3& p);
-
-// returns true if there is a point (strictly) < distance max_dist
-CUDA_CALLABLE inline bool mesh_query_point(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    stack[0] = *mesh.bvh.root;
-
-    int count = 1;
-
-    float min_dist_sq = max_dist*max_dist;
-    int min_face;
-    float min_v;
-    float min_w;
-
-#if BVH_DEBUG
-    int tests = 0;
-    int secondary_culls = 0;
-
-    std::vector<int> test_history;
-    std::vector<vec3> test_centers;
-    std::vector<vec3> test_extents;
-#endif
-
-    while (count)
-    {
-        const int nodeIndex = stack[--count];
-
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-    
-        // re-test distance
-        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
-        if (node_dist_sq > min_dist_sq)
-        {
-#if BVH_DEBUG			
-            secondary_culls++;
-#endif			
-            continue;
-        }
-
-        const int left_index = lower.i;
-        const int right_index = upper.i;
-
-        if (lower.b)
-        {	
-            // compute closest point on tri
-            int i = mesh.indices[left_index*3+0];
-            int j = mesh.indices[left_index*3+1];
-            int k = mesh.indices[left_index*3+2];
-
-            vec3 p = mesh.points[i];
-            vec3 q = mesh.points[j];
-            vec3 r = mesh.points[k];
-            
-            vec3 e0 = q-p;
-            vec3 e1 = r-p;
-            vec3 e2 = r-q;
-            vec3 normal = cross(e0, e1);
-            
-            // sliver detection
-            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
-                continue;
-
-            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
-            float u = barycentric[0];
-            float v = barycentric[1];
-            float w = 1.f - u - v;
-            vec3 c = u*p + v*q + w*r;
-
-            float dist_sq = length_sq(c-point);
-
-            if (dist_sq < min_dist_sq)
-            {
-                min_dist_sq = dist_sq;
-                min_v = v;
-                min_w = w;
-                min_face = left_index;
-            }
-
-#if BVH_DEBUG
-
-            tests++;
-
-            bounds3 b;
-            b = bounds_union(b, p);
-            b = bounds_union(b, q);
-            b = bounds_union(b, r);
-
-            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
-            {
-                //if (dist_sq < max_dist*max_dist)
-                test_history.push_back(left_index);
-                test_centers.push_back(b.center());
-                test_extents.push_back(b.edges());
-            }
-#endif
-
-        }
-        else
-        {
-            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
-            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
-
-            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
-            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
-
-            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
-            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
-
-            float left_score = left_dist_sq;
-            float right_score = right_dist_sq;
-
-            if (left_score < right_score)
-            {
-                // put left on top of the stack
-                if (right_dist_sq < min_dist_sq)
-                    stack[count++] = right_index;
-
-                if (left_dist_sq < min_dist_sq)
-                    stack[count++] = left_index;
-            }
-            else
-            {
-                // put right on top of the stack
-                if (left_dist_sq < min_dist_sq)
-                    stack[count++] = left_index;
-
-                if (right_dist_sq < min_dist_sq)
-                    stack[count++] = right_index;
-            }
-        }
-    }
-
-
-#if BVH_DEBUG
-    printf("%d\n", tests);
-
-    static int max_tests = 0;
-    static vec3 max_point;
-    static float max_point_dist = 0.0f;
-    static int max_secondary_culls = 0;
-
-    if (secondary_culls > max_secondary_culls)
-        max_secondary_culls = secondary_culls;
-
-    if (tests > max_tests)
-    {
-        max_tests = tests;
-        max_point = point;
-        max_point_dist = sqrtf(min_dist_sq);
-
-        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
-
-        FILE* f = fopen("test_history.txt", "w");
-        for (int i=0; i < test_history.size(); ++i)
-        {
-            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
-            test_history[i], 
-            test_centers[i][0], test_centers[i][1], test_centers[i][2],
-            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
-        }
-
-        fclose(f);
-    }
-#endif
-
-    // check if we found a point, and write outputs
-    if (min_dist_sq < max_dist*max_dist)
-    {
-        u = 1.0f - min_v - min_w;
-        v = min_v;
-        face = min_face;
-        
-        // determine inside outside using ray-cast parity check
-        inside = mesh_query_inside(id, point);
-        
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-// returns true if there is a point (strictly) < distance max_dist
-CUDA_CALLABLE inline bool mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, int& face, float& u, float& v)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    stack[0] = *mesh.bvh.root;
-
-    int count = 1;
-
-    float min_dist_sq = max_dist*max_dist;
-    int min_face;
-    float min_v;
-    float min_w;
-
-#if BVH_DEBUG
-    int tests = 0;
-    int secondary_culls = 0;
-
-    std::vector<int> test_history;
-    std::vector<vec3> test_centers;
-    std::vector<vec3> test_extents;
-#endif
-
-    while (count)
-    {
-        const int nodeIndex = stack[--count];
-
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-    
-        // re-test distance
-        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
-        if (node_dist_sq > min_dist_sq)
-        {
-#if BVH_DEBUG			
-            secondary_culls++;
-#endif			
-            continue;
-        }
-
-        const int left_index = lower.i;
-        const int right_index = upper.i;
-
-        if (lower.b)
-        {	
-            // compute closest point on tri
-            int i = mesh.indices[left_index*3+0];
-            int j = mesh.indices[left_index*3+1];
-            int k = mesh.indices[left_index*3+2];
-
-            vec3 p = mesh.points[i];
-            vec3 q = mesh.points[j];
-            vec3 r = mesh.points[k];
-            
-            vec3 e0 = q-p;
-            vec3 e1 = r-p;
-            vec3 e2 = r-q;
-            vec3 normal = cross(e0, e1);
-            
-            // sliver detection
-            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
-                continue;
-
-            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
-            float u = barycentric[0];
-            float v = barycentric[1];
-            float w = 1.f - u - v;
-            vec3 c = u*p + v*q + w*r;
-
-            float dist_sq = length_sq(c-point);
-
-            if (dist_sq < min_dist_sq)
-            {
-                min_dist_sq = dist_sq;
-                min_v = v;
-                min_w = w;
-                min_face = left_index;
-            }
-
-#if BVH_DEBUG
-
-            tests++;
-
-            bounds3 b;
-            b = bounds_union(b, p);
-            b = bounds_union(b, q);
-            b = bounds_union(b, r);
-
-            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
-            {
-                //if (dist_sq < max_dist*max_dist)
-                test_history.push_back(left_index);
-                test_centers.push_back(b.center());
-                test_extents.push_back(b.edges());
-            }
-#endif
-
-        }
-        else
-        {
-            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
-            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
-
-            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
-            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
-
-            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
-            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
-
-            float left_score = left_dist_sq;
-            float right_score = right_dist_sq;
-
-            if (left_score < right_score)
-            {
-                // put left on top of the stack
-                if (right_dist_sq < min_dist_sq)
-                    stack[count++] = right_index;
-
-                if (left_dist_sq < min_dist_sq)
-                    stack[count++] = left_index;
-            }
-            else
-            {
-                // put right on top of the stack
-                if (left_dist_sq < min_dist_sq)
-                    stack[count++] = left_index;
-
-                if (right_dist_sq < min_dist_sq)
-                    stack[count++] = right_index;
-            }
-        }
-    }
-
-
-#if BVH_DEBUG
-    printf("%d\n", tests);
-
-    static int max_tests = 0;
-    static vec3 max_point;
-    static float max_point_dist = 0.0f;
-    static int max_secondary_culls = 0;
-
-    if (secondary_culls > max_secondary_culls)
-        max_secondary_culls = secondary_culls;
-
-    if (tests > max_tests)
-    {
-        max_tests = tests;
-        max_point = point;
-        max_point_dist = sqrtf(min_dist_sq);
-
-        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
-
-        FILE* f = fopen("test_history.txt", "w");
-        for (int i=0; i < test_history.size(); ++i)
-        {
-            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
-            test_history[i], 
-            test_centers[i][0], test_centers[i][1], test_centers[i][2],
-            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
-        }
-
-        fclose(f);
-    }
-#endif
-
-    // check if we found a point, and write outputs
-    if (min_dist_sq < max_dist*max_dist)
-    {
-        u = 1.0f - min_v - min_w;
-        v = min_v;
-        face = min_face;
-        
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-// returns true if there is a point (strictly) > distance min_dist
-CUDA_CALLABLE inline bool mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, int& face, float& u, float& v)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    stack[0] = *mesh.bvh.root;
-
-    int count = 1;
-
-    float max_dist_sq = min_dist*min_dist;
-    int min_face;
-    float min_v;
-    float min_w;
-
-#if BVH_DEBUG
-    int tests = 0;
-    int secondary_culls = 0;
-
-    std::vector<int> test_history;
-    std::vector<vec3> test_centers;
-    std::vector<vec3> test_extents;
-#endif
-
-    while (count)
-    {
-        const int nodeIndex = stack[--count];
-
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-    
-        // re-test distance
-        float node_dist_sq = furthest_distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
-        
-        // if maximum distance to this node is less than our existing furthest max then skip
-        if (node_dist_sq < max_dist_sq)
-        {
-#if BVH_DEBUG			
-            secondary_culls++;
-#endif			
-            continue;
-        }
-
-        const int left_index = lower.i;
-        const int right_index = upper.i;
-
-        if (lower.b)
-        {	
-            // compute closest point on tri
-            int i = mesh.indices[left_index*3+0];
-            int j = mesh.indices[left_index*3+1];
-            int k = mesh.indices[left_index*3+2];
-
-            vec3 p = mesh.points[i];
-            vec3 q = mesh.points[j];
-            vec3 r = mesh.points[k];
-            
-            vec3 e0 = q-p;
-            vec3 e1 = r-p;
-            vec3 e2 = r-q;
-            vec3 normal = cross(e0, e1);
-            
-            // sliver detection
-            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
-                continue;
-
-            vec2 barycentric = furthest_point_to_triangle(p, q, r, point);
-            float u = barycentric[0];
-            float v = barycentric[1];
-            float w = 1.f - u - v;
-            vec3 c = u*p + v*q + w*r;
-
-            float dist_sq = length_sq(c-point);
-
-            if (dist_sq > max_dist_sq)
-            {
-                max_dist_sq = dist_sq;
-                min_v = v;
-                min_w = w;
-                min_face = left_index;
-            }
-
-#if BVH_DEBUG
-
-            tests++;
-
-            bounds3 b;
-            b = bounds_union(b, p);
-            b = bounds_union(b, q);
-            b = bounds_union(b, r);
-
-            if (distance_to_aabb_sq(point, b.lower, b.upper) > max_dist*max_dist)
-            {
-                //if (dist_sq < max_dist*max_dist)
-                test_history.push_back(left_index);
-                test_centers.push_back(b.center());
-                test_extents.push_back(b.edges());
-            }
-#endif
-
-        }
-        else
-        {
-            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
-            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
-
-            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
-            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
-
-            float left_dist_sq = furthest_distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
-            float right_dist_sq = furthest_distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
-
-            float left_score = left_dist_sq;
-            float right_score = right_dist_sq;
-
-            if (left_score > right_score)
-            {
-                // put left on top of the stack
-                if (right_dist_sq > max_dist_sq)
-                    stack[count++] = right_index;
-
-                if (left_dist_sq > max_dist_sq)
-                    stack[count++] = left_index;
-            }
-            else
-            {
-                // put right on top of the stack
-                if (left_dist_sq > max_dist_sq)
-                    stack[count++] = left_index;
-
-                if (right_dist_sq > max_dist_sq)
-                    stack[count++] = right_index;
-            }
-        }
-    }
-
-
-#if BVH_DEBUG
-    printf("%d\n", tests);
-
-    static int max_tests = 0;
-    static vec3 max_point;
-    static float max_point_dist = 0.0f;
-    static int max_secondary_culls = 0;
-
-    if (secondary_culls > max_secondary_culls)
-        max_secondary_culls = secondary_culls;
-
-    if (tests > max_tests)
-    {
-        max_tests = tests;
-        max_point = point;
-        max_point_dist = sqrtf(max_dist_sq);
-
-        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
-
-        FILE* f = fopen("test_history.txt", "w");
-        for (int i=0; i < test_history.size(); ++i)
-        {
-            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
-            test_history[i], 
-            test_centers[i][0], test_centers[i][1], test_centers[i][2],
-            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
-        }
-
-        fclose(f);
-    }
-#endif
-
-    // check if we found a point, and write outputs
-    if (max_dist_sq > min_dist*min_dist)
-    {
-        u = 1.0f - min_v - min_w;
-        v = min_v;
-        face = min_face;
-        
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-// returns true if there is a point (strictly) < distance max_dist
-CUDA_CALLABLE inline bool mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v, const float epsilon = 1e-3f)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    stack[0] = *mesh.bvh.root;
-    int count = 1;
-    float min_dist = max_dist;
-    int min_face;
-    float min_v;
-    float min_w;
-    vec3 accumulated_angle_weighted_normal;
-#if BVH_DEBUG
-    int tests = 0;
-    int secondary_culls = 0;
-    std::vector<int> test_history;
-    std::vector<vec3> test_centers;
-    std::vector<vec3> test_extents;
-#endif
-    float epsilon_min_dist = mesh.average_edge_length * epsilon;
-    float epsilon_min_dist_sq = epsilon_min_dist*epsilon_min_dist;
-    while (count)
-    {
-        const int nodeIndex = stack[--count];
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-        // re-test distance
-        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
-        if (node_dist_sq > (min_dist + epsilon_min_dist)*(min_dist + epsilon_min_dist))
-        {
-#if BVH_DEBUG
-            secondary_culls++;
-#endif
-            continue;
-        }
-        const int left_index = lower.i;
-        const int right_index = upper.i;
-        if (lower.b)
-        {
-            // compute closest point on tri
-            int i = mesh.indices[left_index*3+0];
-            int j = mesh.indices[left_index*3+1];
-            int k = mesh.indices[left_index*3+2];
-            vec3 p = mesh.points[i];
-            vec3 q = mesh.points[j];
-            vec3 r = mesh.points[k];
-            vec3 e0 = q-p;
-            vec3 e1 = r-p;
-            vec3 e2 = r-q;
-            vec3 normal = cross(e0, e1);
-            // sliver detection
-            float e0_norm_sq = dot(e0,e0);
-            float e1_norm_sq = dot(e1,e1);
-            float e2_norm_sq = dot(e2,e2);
-            if (length(normal)/(e0_norm_sq + e1_norm_sq + e2_norm_sq) < 1.e-6f)
-                continue;
-            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
-            float u = barycentric[0];
-            float v = barycentric[1];
-            float w = 1.f - u - v;
-            vec3 c = u*p + v*q + w*r;
-            float dist = sqrtf(length_sq(c-point));
-            if (dist < min_dist + epsilon_min_dist)
-            {
-                float weight = 0.0f;
-                vec3 cp = c-p;
-                vec3 cq = c-q;
-                vec3 cr = c-r;
-                float len_cp_sq = length_sq(cp);
-                float len_cq_sq = length_sq(cq);
-                float len_cr_sq = length_sq(cr);
-                
-                // Check if near vertex
-                if (len_cp_sq < epsilon_min_dist_sq)
-                {
-                    // Vertex 0 is the closest feature
-                    weight = acosf(dot(normalize(e0), normalize(e1)));
-                } else
-                if (len_cq_sq < epsilon_min_dist_sq)
-                {
-                    // Vertex 1 is the closest feature
-                    weight = acosf(dot(normalize(e2), normalize(-e0)));
-                } else
-                if (len_cr_sq < epsilon_min_dist_sq)
-                {
-                    // Vertex 2 is the closest feature
-                    weight = acosf(dot(normalize(-e1), normalize(-e2)));
-                } else
-                {
-                    float e0cp = dot(e0, cp);
-                    float e2cq = dot(e2, cq);
-                    float e1cp = dot(e1, cp);
-
-                    if ((len_cp_sq*e0_norm_sq-e0cp*e0cp < epsilon_min_dist_sq*e0_norm_sq) ||
-                        (len_cq_sq*e2_norm_sq-e2cq*e2cq < epsilon_min_dist_sq*e2_norm_sq) ||
-                        (len_cp_sq*e1_norm_sq-e1cp*e1cp < epsilon_min_dist_sq*e1_norm_sq)) {
-                        // One of the edge
-                        weight = 3.14159265359f;  // PI
-                    } else {
-                        weight = 2.0f*3.14159265359f; // 2*PI
-                    }
-                }
-
-                if (dist > min_dist - epsilon_min_dist) 
-                {
-                    // Treat as equal
-                    accumulated_angle_weighted_normal += weight*normalize(normal);
-                    if (dist < min_dist) 
-                    {
-                        min_dist = dist;
-                        min_v = v;
-                        min_w = w;
-                        min_face = left_index;
-                    }
-                } else {
-                    // Less
-                    min_dist = dist;
-                    min_v = v;
-                    min_w = w;
-                    min_face = left_index;
-                    accumulated_angle_weighted_normal = weight*normalize(normal);
-                }
-            }
-#if BVH_DEBUG
-            tests++;
-            bounds3 b;
-            b = bounds_union(b, p);
-            b = bounds_union(b, q);
-            b = bounds_union(b, r);
-            if (distance_to_aabb_sq(point, b.lower, b.upper) < (max_dist+epsilon_min_dist)*(max_dist+epsilon_min_dist))
-            {
-                //if (dist_sq < max_dist*max_dist)
-                test_history.push_back(left_index);
-                test_centers.push_back(b.center());
-                test_extents.push_back(b.edges());
-            }
-#endif
-        }
-        else
-        {
-            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
-            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
-            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
-            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
-
-            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
-            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
-
-            float left_score = left_dist_sq;
-            float right_score = right_dist_sq;
-
-            if (left_score < right_score)
-            {
-                // put left on top of the stack
-                if (right_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
-                    stack[count++] = right_index;
-                if (left_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
-                    stack[count++] = left_index;
-            }
-            else
-            {
-                // put right on top of the stack
-                if (left_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
-                    stack[count++] = left_index;
-                if (right_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
-                    stack[count++] = right_index;
-            }
-        }
-    }
-#if BVH_DEBUG
-    printf("%d\n", tests);
-    static int max_tests = 0;
-    static vec3 max_point;
-    static float max_point_dist = 0.0f;
-    static int max_secondary_culls = 0;
-    if (secondary_culls > max_secondary_culls)
-        max_secondary_culls = secondary_culls;
-    if (tests > max_tests)
-    {
-        max_tests = tests;
-        max_point = point;
-        max_point_dist = min_dist;
-        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
-        FILE* f = fopen("test_history.txt", "w");
-        for (int i=0; i < test_history.size(); ++i)
-        {
-            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n",
-            test_history[i],
-            test_centers[i][0], test_centers[i][1], test_centers[i][2],
-            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
-        }
-        fclose(f);
-    }
-#endif
-    // check if we found a point, and write outputs
-    if (min_dist < max_dist)
-    {
-        u = 1.0f - min_v - min_w;
-        v = min_v;
-        face = min_face;
-        // determine inside outside using ray-cast parity check
-        //inside = mesh_query_inside(id, point);
-        int i = mesh.indices[min_face*3+0];
-        int j = mesh.indices[min_face*3+1];
-        int k = mesh.indices[min_face*3+2];
-        vec3 p = mesh.points[i];
-        vec3 q = mesh.points[j];
-        vec3 r = mesh.points[k];
-        vec3 closest_point = p*u+q*v+r*min_w;
-        if (dot(accumulated_angle_weighted_normal, point-closest_point) > 0.0) 
-        {
-            inside = 1.0f;
-        } else 
-        {
-            inside = -1.0f;
-        }
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-CUDA_CALLABLE inline float solid_angle_iterative(uint64_t id, const vec3& p, const float accuracy_sq)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    int at_child[32]; // 0 for left, 1 for right, 2 for done	
-    float angle[32]; 
-    stack[0] = *mesh.bvh.root;	
-    at_child[0] = 0;
-
-    int count = 1;
-    angle[0] = 0.0f;
-
-    while (count)
-    {
-        const int nodeIndex = stack[count - 1];
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-    
-        const int left_index = lower.i;
-        const int right_index = upper.i;
-        if (lower.b)
-        {
-            // compute closest point on tri
-            const int leaf_index = left_index;
-            angle[count - 1] = robust_solid_angle(mesh.points[mesh.indices[leaf_index*3+0]], mesh.points[mesh.indices[leaf_index*3+1]], mesh.points[mesh.indices[leaf_index*3+2]], p);
-            //printf("Leaf %d, got %f\n", leaf_index, my_data[count - 1]);
-            count--;
-        }
-        else
-        {
-            // See if I have to descend
-            if (at_child[count - 1] == 0) 
-            {
-                // First visit
-                bool des = evaluate_node_solid_angle(p, &mesh.solid_angle_props[nodeIndex], angle[count - 1], accuracy_sq); 
-
-                //printf("Non-Leaf %d, got %f\n", nodeIndex, angle[count - 1]);
-                if (des) 
-                {
-                    // Go left
-                    stack[count] = left_index;
-                    at_child[count - 1] = 1;
-                    angle[count] = 0.0f;
-                    at_child[count] = 0;
-                    count++;
-                } else 
-                {				
-                    // Does not descend done
-                    count--;
-                }
-            } else
-            if (at_child[count - 1] == 1) 
-            {
-                // Add data to parent
-                angle[count - 1] += angle[count];
-                // Go right
-                stack[count] = right_index;
-                at_child[count - 1] = 2;
-                angle[count] = 0.0f;			
-                at_child[count] = 0;
-                count++;					
-            } else {
-                // Descend both sides already
-                angle[count - 1] += angle[count];
-                count--;
-            }
-        }
-    }
-    return angle[0];
-}
-
-CUDA_CALLABLE inline float mesh_query_winding_number(uint64_t id, const vec3& p, const float accuracy) 
-{	
-    float angle = solid_angle_iterative(id, p, accuracy*accuracy);
-    return angle * 0.07957747154; // divided by 4 PI
-}
-
-// returns true if there is a point (strictly) < distance max_dist
-CUDA_CALLABLE inline bool mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v, const float accuracy, const float winding_number_threshold)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    stack[0] = *mesh.bvh.root;
-
-    int count = 1;
-
-    float min_dist_sq = max_dist*max_dist;
-    int min_face;
-    float min_v;
-    float min_w;
-
-#if BVH_DEBUG
-    int tests = 0;
-    int secondary_culls = 0;
-
-    std::vector<int> test_history;
-    std::vector<vec3> test_centers;
-    std::vector<vec3> test_extents;
-#endif
-
-    while (count)
-    {
-        const int nodeIndex = stack[--count];
-
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-    
-        // re-test distance
-        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
-        if (node_dist_sq > min_dist_sq)
-        {
-#if BVH_DEBUG			
-            secondary_culls++;
-#endif			
-            continue;
-        }
-
-        const int left_index = lower.i;
-        const int right_index = upper.i;
-
-        if (lower.b)
-        {	
-            // compute closest point on tri
-            int i = mesh.indices[left_index*3+0];
-            int j = mesh.indices[left_index*3+1];
-            int k = mesh.indices[left_index*3+2];
-
-            vec3 p = mesh.points[i];
-            vec3 q = mesh.points[j];
-            vec3 r = mesh.points[k];
-            
-            vec3 e0 = q-p;
-            vec3 e1 = r-p;
-            vec3 e2 = r-q;
-            vec3 normal = cross(e0, e1);
-            
-            // sliver detection
-            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
-                continue;
-
-            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
-            float u = barycentric[0];
-            float v = barycentric[1];
-            float w = 1.f - u - v;
-            vec3 c = u*p + v*q + w*r;
-
-            float dist_sq = length_sq(c-point);
-
-            if (dist_sq < min_dist_sq)
-            {
-                min_dist_sq = dist_sq;
-                min_v = v;
-                min_w = w;
-                min_face = left_index;
-            }
-
-#if BVH_DEBUG
-
-            tests++;
-
-            bounds3 b;
-            b = bounds_union(b, p);
-            b = bounds_union(b, q);
-            b = bounds_union(b, r);
-
-            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
-            {
-                //if (dist_sq < max_dist*max_dist)
-                test_history.push_back(left_index);
-                test_centers.push_back(b.center());
-                test_extents.push_back(b.edges());
-            }
-#endif
-
-        }
-        else
-        {
-            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
-            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
-
-            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
-            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
-
-            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
-            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
-
-            float left_score = left_dist_sq;
-            float right_score = right_dist_sq;
-
-            if (left_score < right_score)
-            {
-                // put left on top of the stack
-                if (right_dist_sq < min_dist_sq)
-                    stack[count++] = right_index;
-
-                if (left_dist_sq < min_dist_sq)
-                    stack[count++] = left_index;
-            }
-            else
-            {
-                // put right on top of the stack
-                if (left_dist_sq < min_dist_sq)
-                    stack[count++] = left_index;
-
-                if (right_dist_sq < min_dist_sq)
-                    stack[count++] = right_index;
-            }
-        }
-    }
-
-
-#if BVH_DEBUG
-    printf("%d\n", tests);
-
-    static int max_tests = 0;
-    static vec3 max_point;
-    static float max_point_dist = 0.0f;
-    static int max_secondary_culls = 0;
-
-    if (secondary_culls > max_secondary_culls)
-        max_secondary_culls = secondary_culls;
-
-    if (tests > max_tests)
-    {
-        max_tests = tests;
-        max_point = point;
-        max_point_dist = sqrtf(min_dist_sq);
-
-        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
-
-        FILE* f = fopen("test_history.txt", "w");
-        for (int i=0; i < test_history.size(); ++i)
-        {
-            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
-            test_history[i], 
-            test_centers[i][0], test_centers[i][1], test_centers[i][2],
-            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
-        }
-
-        fclose(f);
-    }
-#endif
-
-    // check if we found a point, and write outputs
-    if (min_dist_sq < max_dist*max_dist)
-    {
-        u = 1.0f - min_v - min_w;
-        v = min_v;
-        face = min_face;
-        
-        // determine inside outside using ray-cast parity check
-        if (!mesh.solid_angle_props) {
-            inside = mesh_query_inside(id, point);
-        }
-        else {
-            float winding_number = mesh_query_winding_number(id, point, accuracy);
-            inside = (winding_number > winding_number_threshold) ? -1.0f:1.0f;
-        }
-        
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, const int& face, const float& u, const float& v,
-                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
-{
-    Mesh mesh = mesh_get(id);
-    
-    // face is determined by BVH in forward pass
-    int i = mesh.indices[face*3+0];
-    int j = mesh.indices[face*3+1];
-    int k = mesh.indices[face*3+2];
-
-    vec3 p = mesh.points[i];
-    vec3 q = mesh.points[j];
-    vec3 r = mesh.points[k];
-
-    vec3 adj_p, adj_q, adj_r;
-
-    vec2 adj_uv(adj_u, adj_v);
-
-    adj_closest_point_to_triangle(p, q, r, point, adj_p, adj_q, adj_r, adj_point, adj_uv);	
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, const int& face, const float& u, const float& v,
-                                               uint64_t adj_id, vec3& adj_point, float& adj_min_dist, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
-{
-    Mesh mesh = mesh_get(id);
-    
-    // face is determined by BVH in forward pass
-    int i = mesh.indices[face*3+0];
-    int j = mesh.indices[face*3+1];
-    int k = mesh.indices[face*3+2];
-
-    vec3 p = mesh.points[i];
-    vec3 q = mesh.points[j];
-    vec3 r = mesh.points[k];
-
-    vec3 adj_p, adj_q, adj_r;
-
-    vec2 adj_uv(adj_u, adj_v);
-
-    adj_closest_point_to_triangle(p, q, r, point, adj_p, adj_q, adj_r, adj_point, adj_uv);	 // Todo for Miles :>
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v,
-                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
-{
-    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v, const float epsilon,
-                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, float& adj_epsilon, bool& adj_ret)
-{
-    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v, const float accuracy, const float winding_number_threshold,
-                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, float& adj_accuracy, float& adj_winding_number_threshold, bool& adj_ret)
-{
-    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
-}
-
-
-// Stores the result of querying the closest point on a mesh.
-struct mesh_query_point_t
-{
-    CUDA_CALLABLE mesh_query_point_t()
-        : result(false),
-          sign(0.0f),
-          face(0),
-          u(0.0f),
-          v(0.0f)
-    {}
-
-    // Required for adjoint computations.
-    CUDA_CALLABLE inline mesh_query_point_t& operator+=(const mesh_query_point_t& other)
-    {
-        result += other.result;
-        sign += other.sign;
-        face += other.face;
-        u += other.u;
-        v += other.v;
-        return *this;
-    }
-
-    bool result;
-    float sign;
-    int face;
-    float u;
-    float v;
-};
-
-CUDA_CALLABLE inline mesh_query_point_t mesh_query_point(uint64_t id, const vec3& point, float max_dist)
-{
-    mesh_query_point_t query;
-    query.result = mesh_query_point(id, point, max_dist, query.sign, query.face, query.u, query.v);
-    return query;
-}
-
-CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist)
-{
-    mesh_query_point_t query;
-    query.sign = 0.0;
-    query.result = mesh_query_point_no_sign(id, point, max_dist, query.face, query.u, query.v);
-    return query;
-}
-
-CUDA_CALLABLE inline mesh_query_point_t mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist)
-{
-    mesh_query_point_t query;
-    query.sign = 0.0;
-    query.result = mesh_query_furthest_point_no_sign(id, point, min_dist, query.face, query.u, query.v);
-    return query;
-}
-
-CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, const float epsilon = 1e-3f)
-{
-    mesh_query_point_t query;
-    query.result = mesh_query_point_sign_normal(id, point, max_dist, query.sign, query.face, query.u, query.v, epsilon);
-    return query;
-}
-
-CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float accuracy, float winding_number_threshold)
-{
-    mesh_query_point_t query;
-    query.result = mesh_query_point_sign_winding_number(id, point, max_dist, query.sign, query.face, query.u, query.v, accuracy, winding_number_threshold);
-    return query;
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point(uint64_t id, const vec3& point, float max_dist, const mesh_query_point_t& ret,
-                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, mesh_query_point_t& adj_ret)
-{
-    adj_mesh_query_point(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v,
-                         adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, const mesh_query_point_t& ret,
-                                                       uint64_t adj_id, vec3& adj_point, float& adj_max_dist, mesh_query_point_t& adj_ret)
-{
-    adj_mesh_query_point_no_sign(id, point, max_dist, ret.face, ret.u, ret.v,
-                                adj_id, adj_point, adj_max_dist, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, const mesh_query_point_t& ret,
-                                                                uint64_t adj_id, vec3& adj_point, float& adj_min_dist, mesh_query_point_t& adj_ret)
-{
-    adj_mesh_query_furthest_point_no_sign(id, point, min_dist, ret.face, ret.u, ret.v,
-                                          adj_id, adj_point, adj_min_dist, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, float epsilon, const mesh_query_point_t& ret,
-                                                           uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_epsilon, mesh_query_point_t& adj_ret)
-{
-    adj_mesh_query_point_sign_normal(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v, epsilon,
-                                     adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, epsilon, adj_ret.result);
-}
-
-CUDA_CALLABLE inline void adj_mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float accuracy, float winding_number_threshold, const mesh_query_point_t& ret,
-                                                                   uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_accuracy, float& adj_winding_number_threshold, mesh_query_point_t& adj_ret)
-{
-    adj_mesh_query_point_sign_winding_number(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v, accuracy, winding_number_threshold,
-                                             adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, adj_accuracy, adj_winding_number_threshold, adj_ret.result);
-}
-
-CUDA_CALLABLE inline bool mesh_query_ray(uint64_t id, const vec3& start, const vec3& dir, float max_t, float& t, float& u, float& v, float& sign, vec3& normal, int& face)
-{
-    Mesh mesh = mesh_get(id);
-
-    int stack[32];
-    stack[0] = *mesh.bvh.root;
-    int count = 1;
-
-    vec3 rcp_dir = vec3(1.0f/dir[0], 1.0f/dir[1], 1.0f/dir[2]);
-
-    float min_t = max_t;
-    int min_face;
-    float min_u;
-    float min_v;
-    float min_sign = 1.0f;
-    vec3 min_normal;
-
-    while (count)
-    {
-        const int nodeIndex = stack[--count];
-
-        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
-
-        // todo: switch to robust ray-aabb, or expand bounds in build stage
-        float eps = 1.e-3f;
-        float t = 0.0f;
-        bool hit = intersect_ray_aabb(start, rcp_dir, vec3(lower.x-eps, lower.y-eps, lower.z-eps), vec3(upper.x+eps, upper.y+eps, upper.z+eps), t);
-
-        if (hit && t < min_t)
-        {
-            const int left_index = lower.i;
-            const int right_index = upper.i;
-
-            if (lower.b)
-            {	
-                // compute closest point on tri
-                int i = mesh.indices[left_index*3+0];
-                int j = mesh.indices[left_index*3+1];
-                int k = mesh.indices[left_index*3+2];
-
-                vec3 p = mesh.points[i];
-                vec3 q = mesh.points[j];
-                vec3 r = mesh.points[k];
-
-                float t, u, v, sign;
-                vec3 n;
-                
-                if (intersect_ray_tri_woop(start, dir, p, q, r, t, u, v, sign, &n))
-                {
-                    if (t < min_t && t >= 0.0f)
-                    {
-                        min_t = t;
-                        min_face = left_index;
-                        min_u = u;
-                        min_v = v;
-                        min_sign = sign;
-                        min_normal = n;
-                    }
-                }
-            }
-            else
-            {
-                stack[count++] = left_index;
-                stack[count++] = right_index;
-            }
-        }
-    }
-
-    if (min_t < max_t)
-    {
-        // write outputs
-        u = min_u;
-        v = min_v;
-        sign = min_sign;
-        t = min_t;
-        normal = normalize(min_normal);
-        face = min_face;
-
-        return true;
-    }
-    else
-    {
-        return false;
-    }
-    
-}
-
-
-CUDA_CALLABLE inline void adj_mesh_query_ray(
-    uint64_t id, const vec3& start, const vec3& dir, float max_t, float t, float u, float v, float sign, const vec3& n, int face,
-    uint64_t adj_id, vec3& adj_start, vec3& adj_dir, float& adj_max_t, float& adj_t, float& adj_u, float& adj_v, float& adj_sign, vec3& adj_n, int& adj_face, bool& adj_ret)
-{
-
-    Mesh mesh = mesh_get(id);
-    
-    // face is determined by BVH in forward pass
-    int i = mesh.indices[face*3+0];
-    int j = mesh.indices[face*3+1];
-    int k = mesh.indices[face*3+2];
-
-    vec3 a = mesh.points[i];
-    vec3 b = mesh.points[j];
-    vec3 c = mesh.points[k];
-
-    vec3 adj_a, adj_b, adj_c;
-
-    adj_intersect_ray_tri_woop(start, dir, a, b, c, t, u, v, sign, n, adj_start, adj_dir, adj_a, adj_b, adj_c, adj_t, adj_u, adj_v, adj_sign, adj_n, adj_ret);
-
-}
-
-
-// Stores the result of querying the closest point on a mesh.
-struct mesh_query_ray_t
-{
-    CUDA_CALLABLE mesh_query_ray_t()
-        : result(false),
-          sign(0.0f),
-          face(0),
-          t(0.0f),
-          u(0.0f),
-          v(0.0f),
-          normal()
-    {
-    }
-
-    // Required for adjoint computations.
-    CUDA_CALLABLE inline mesh_query_ray_t& operator+=(const mesh_query_ray_t& other)
-    {
-        result += other.result;
-        sign += other.sign;
-        face += other.face;
-        t += other.t;
-        u += other.u;
-        v += other.v;
-        normal += other.normal;
-        return *this;
-    }
-
-    bool result;
-    float sign;
-    int face;
-    float t;
-    float u;
-    float v;
-    vec3 normal;
-};
-
-CUDA_CALLABLE inline mesh_query_ray_t mesh_query_ray(uint64_t id, const vec3& start, const vec3& dir, float max_t)
-{
-    mesh_query_ray_t query;
-    query.result = mesh_query_ray(id, start, dir, max_t, query.t, query.u, query.v, query.sign, query.normal, query.face);
-    return query;
-}
-
-CUDA_CALLABLE inline void
-adj_mesh_query_ray(
-    uint64_t id, const vec3& start, const vec3& dir, float max_t, const mesh_query_ray_t& ret,
-    uint64_t adj_id, vec3& adj_start, vec3& adj_dir, float& adj_max_t, mesh_query_ray_t& adj_ret
-)
-{
-    adj_mesh_query_ray(
-        id, start, dir, max_t, ret.t, ret.u, ret.v, ret.sign, ret.normal, ret.face,
-        adj_id, adj_start, adj_dir, adj_max_t, adj_ret.t, adj_ret.u, adj_ret.v, adj_ret.sign, adj_ret.normal, adj_ret.face, adj_ret.result
-    );
-}
-
-
-// determine if a point is inside (ret < 0 ) or outside the mesh (ret > 0)
-CUDA_CALLABLE inline float mesh_query_inside(uint64_t id, const vec3& p)
-{
-    float t, u, v, sign;
-    vec3 n;
-    int face;
-
-    int vote = 0;
-
-    for(int i = 0; i <3; ++i)
-    {
-        if (mesh_query_ray(id, p, vec3(float(i==0), float(i==1), float(i==2)), FLT_MAX, t, u, v, sign, n, face) && sign < 0) 
-        {
-            vote++;
-        }
-    }
-
-    if (vote == 3)
-        return -1.0f;
-    else
-        return 1.0f;
-}
-
-// stores state required to traverse the BVH nodes that 
-// overlap with a query AABB.
-struct mesh_query_aabb_t
-{
-    CUDA_CALLABLE mesh_query_aabb_t()
-        : mesh(),
-          stack(),
-          count(0),
-          input_lower(),
-          input_upper(),
-          face(0)
-    {}
-
-    // Required for adjoint computations.
-    CUDA_CALLABLE inline mesh_query_aabb_t& operator+=(const mesh_query_aabb_t& other)
-    {
-        return *this;
-    }
-
-    // Mesh Id
-    Mesh mesh;
-    // BVH traversal stack:
-    int stack[32];
-    int count;
-
-    // inputs
-    wp::vec3 input_lower;
-    wp::vec3 input_upper;
-
-    // Face
-    int face;
-};
-
-
-
-CUDA_CALLABLE inline mesh_query_aabb_t mesh_query_aabb(
-    uint64_t id, const vec3& lower, const vec3& upper)
-{
-    // This routine traverses the BVH tree until it finds
-    // the first triangle with an overlapping bvh. 
-
-    // initialize empty
-    mesh_query_aabb_t query;
-    query.face = -1;
-
-    Mesh mesh = mesh_get(id);
-    query.mesh = mesh;
-    
-    query.stack[0] = *mesh.bvh.root;
-    query.count = 1;
-    query.input_lower = lower;
-    query.input_upper = upper;
-
-    wp::bounds3 input_bounds(query.input_lower, query.input_upper);
-    
-    // Navigate through the bvh, find the first overlapping leaf node.
-    while (query.count)
-    {
-        const int nodeIndex = query.stack[--query.count];
-        BVHPackedNodeHalf node_lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf node_upper = mesh.bvh.node_uppers[nodeIndex];
-
-        wp::vec3 lower_pos(node_lower.x, node_lower.y, node_lower.z);
-        wp::vec3 upper_pos(node_upper.x, node_upper.y, node_upper.z);
-        wp::bounds3 current_bounds(lower_pos, upper_pos);
-        if (!input_bounds.overlaps(current_bounds))
-        {
-            // Skip this box, it doesn't overlap with our target box.
-            continue;
-        }
-
-        const int left_index = node_lower.i;
-        const int right_index = node_upper.i;
-
-        // Make bounds from this AABB
-        if (node_lower.b)
-        {
-            // found very first triangle index.
-            // Back up one level and return 
-            query.stack[query.count++] = nodeIndex;
-            return query;
-        }
-        else
-        {	
-          query.stack[query.count++] = left_index;
-          query.stack[query.count++] = right_index;
-        }
-    }	
-
-    return query;
-}
-
-//Stub
-CUDA_CALLABLE inline void adj_mesh_query_aabb(uint64_t id, const vec3& lower, const vec3& upper,
-                                              uint64_t, vec3&, vec3&, mesh_query_aabb_t&)
-{
-
-}
-
-CUDA_CALLABLE inline bool mesh_query_aabb_next(mesh_query_aabb_t& query, int& index)
-{
-    Mesh mesh = query.mesh;
-    
-    wp::bounds3 input_bounds(query.input_lower, query.input_upper);
-    // Navigate through the bvh, find the first overlapping leaf node.
-    while (query.count)
-    {
-        const int nodeIndex = query.stack[--query.count];
-        BVHPackedNodeHalf node_lower = mesh.bvh.node_lowers[nodeIndex];
-        BVHPackedNodeHalf node_upper = mesh.bvh.node_uppers[nodeIndex];
-
-        wp::vec3 lower_pos(node_lower.x, node_lower.y, node_lower.z);
-        wp::vec3 upper_pos(node_upper.x, node_upper.y, node_upper.z);
-        wp::bounds3 current_bounds(lower_pos, upper_pos);
-        if (!input_bounds.overlaps(current_bounds))
-        {
-            // Skip this box, it doesn't overlap with our target box.
-            continue;
-        }
-
-        const int left_index = node_lower.i;
-        const int right_index = node_upper.i;
-
-        // Make bounds from this AABB
-        if (node_lower.b)
-        {
-            // found very first triangle index
-            query.face = left_index;
-            index = left_index;
-            return true;
-        }
-        else
-        {
-
-            query.stack[query.count++] = left_index;
-            query.stack[query.count++] = right_index;
-        }
-    }
-    return false;
-}
-
-
-CUDA_CALLABLE inline int iter_next(mesh_query_aabb_t& query)
-{
-    return query.face;
-}
-
-CUDA_CALLABLE inline bool iter_cmp(mesh_query_aabb_t& query)
-{
-    bool finished = mesh_query_aabb_next(query, query.face);
-    return finished;
-}
-
-CUDA_CALLABLE inline mesh_query_aabb_t iter_reverse(const mesh_query_aabb_t& query)
-{
-    // can't reverse BVH queries, users should not rely on neighbor ordering
-    return query;
-}
-
-
-// stub
-CUDA_CALLABLE inline void adj_mesh_query_aabb_next(mesh_query_aabb_t& query, int& index, mesh_query_aabb_t&, int&, bool&) 
-{
-
-}
-
-
-CUDA_CALLABLE inline vec3 mesh_eval_position(uint64_t id, int tri, float u, float v)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.points)
-        return vec3();
-
-    assert(tri < mesh.num_tris);
-
-    int i = mesh.indices[tri*3+0];
-    int j = mesh.indices[tri*3+1];
-    int k = mesh.indices[tri*3+2];
-
-    vec3 p = mesh.points[i];
-    vec3 q = mesh.points[j];
-    vec3 r = mesh.points[k];
-
-    return p*u + q*v + r*(1.0f-u-v);
-}
-
-CUDA_CALLABLE inline vec3 mesh_eval_velocity(uint64_t id, int tri, float u, float v)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.velocities)
-        return vec3();
-
-    assert(tri < mesh.num_tris);
-
-    int i = mesh.indices[tri*3+0];
-    int j = mesh.indices[tri*3+1];
-    int k = mesh.indices[tri*3+2];
-
-    vec3 vp = mesh.velocities[i];
-    vec3 vq = mesh.velocities[j];
-    vec3 vr = mesh.velocities[k];
-
-    return vp*u + vq*v + vr*(1.0f-u-v);
-}
-
-
-CUDA_CALLABLE inline void adj_mesh_eval_position(uint64_t id, int tri, float u, float v,
-                                                 uint64_t& adj_id, int& adj_tri, float& adj_u, float& adj_v, const vec3& adj_ret)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.points)
-        return;
-
-    assert(tri < mesh.num_tris);
-
-    int i = mesh.indices[tri*3+0];
-    int j = mesh.indices[tri*3+1];
-    int k = mesh.indices[tri*3+2];
-
-    vec3 p = mesh.points[i];
-    vec3 q = mesh.points[j];
-    vec3 r = mesh.points[k];
-
-    adj_u += (p[0] - r[0]) * adj_ret[0] + (p[1] - r[1]) * adj_ret[1] + (p[2] - r[2]) * adj_ret[2];
-    adj_v += (q[0] - r[0]) * adj_ret[0] + (q[1] - r[1]) * adj_ret[1] + (q[2] - r[2]) * adj_ret[2];
-}
-
-CUDA_CALLABLE inline void adj_mesh_eval_velocity(uint64_t id, int tri, float u, float v,
-                                                 uint64_t& adj_id, int& adj_tri, float& adj_u, float& adj_v, const vec3& adj_ret)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.velocities)
-        return;
-
-    assert(tri < mesh.num_tris);
-
-    int i = mesh.indices[tri*3+0];
-    int j = mesh.indices[tri*3+1];
-    int k = mesh.indices[tri*3+2];
-
-    vec3 vp = mesh.velocities[i];
-    vec3 vq = mesh.velocities[j];
-    vec3 vr = mesh.velocities[k];
-
-    adj_u += (vp[0] - vr[0]) * adj_ret[0] + (vp[1] - vr[1]) * adj_ret[1] + (vp[2] - vr[2]) * adj_ret[2];
-    adj_v += (vq[0] - vr[0]) * adj_ret[0] + (vq[1] - vr[1]) * adj_ret[1] + (vq[2] - vr[2]) * adj_ret[2];
-}
-
-CUDA_CALLABLE inline vec3 mesh_eval_face_normal(uint64_t id, int tri)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.points)
-        return vec3();
-
-    assert(tri < mesh.num_tris);
-
-    int i = mesh.indices[tri*3+0];
-    int j = mesh.indices[tri*3+1];
-    int k = mesh.indices[tri*3+2];
-
-    vec3 p = mesh.points[i];
-    vec3 q = mesh.points[j];
-    vec3 r = mesh.points[k];
-
-    return normalize(cross(q - p, r - p));
-}
-
-CUDA_CALLABLE inline void adj_mesh_eval_face_normal(uint64_t id, int tri,
-                                                    uint64_t& adj_id, int& adj_tri, const vec3& adj_ret)
-{
-    // no-op
-}
-
-CUDA_CALLABLE inline vec3 mesh_get_point(uint64_t id, int index)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.points)
-        return vec3();
-
-#if FP_CHECK
-    if (index >= mesh.num_tris * 3)
-    {
-        printf("mesh_get_point (%llu, %d) out of bounds at %s:%d\n", id, index, __FILE__, __LINE__);
-        assert(0);
-    }
-#endif
-
-    int i = mesh.indices[index];
-    return mesh.points[i];
-}
-
-CUDA_CALLABLE inline void adj_mesh_get_point(uint64_t id, int index,
-                                             uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
-{
-    // no-op
-}
-
-CUDA_CALLABLE inline vec3 mesh_get_velocity(uint64_t id, int index)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.velocities)
-        return vec3();
-
-#if FP_CHECK
-    if (index >= mesh.num_tris * 3)
-    {
-        printf("mesh_get_velocity (%llu, %d) out of bounds at %s:%d\n", id, index, __FILE__, __LINE__);
-        assert(0);
-    }
-#endif
-
-    int i = mesh.indices[index];
-    return mesh.velocities[i];
-}
-
-CUDA_CALLABLE inline void adj_mesh_get_velocity(uint64_t id, int index,
-                                                uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
-{
-    // no-op
-}
-
-CUDA_CALLABLE inline int mesh_get_index(uint64_t id, int face_vertex_index)
-{
-    Mesh mesh = mesh_get(id);
-
-    if (!mesh.indices)
-        return -1;
-
-    assert(face_vertex_index < mesh.num_tris * 3);
-
-    return mesh.indices[face_vertex_index];
-}
-
-CUDA_CALLABLE inline void adj_mesh_get_index(uint64_t id, int index,
-                                             uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
-{
-    // no-op
-}
-
-CUDA_CALLABLE bool mesh_get_descriptor(uint64_t id, Mesh& mesh);
-CUDA_CALLABLE void mesh_add_descriptor(uint64_t id, const Mesh& mesh);
-CUDA_CALLABLE void mesh_rem_descriptor(uint64_t id);
-
-} // namespace wp
+/** 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.
+ */
+
+#pragma once
+
+#include "builtin.h"
+#include "bvh.h"
+#include "intersect.h"
+#include "array.h"
+#include "solid_angle.h"
+
+#define BVH_DEBUG 0
+
+namespace wp
+{
+
+struct Mesh
+{
+    array_t<vec3> points;
+    array_t<vec3> velocities;
+
+    array_t<int> indices;
+
+    vec3* lowers;
+    vec3* uppers;
+
+    SolidAngleProps* solid_angle_props;
+
+    int num_points;
+    int num_tris;
+
+    BVH bvh;
+
+    void* context;
+    float average_edge_length;
+
+    inline CUDA_CALLABLE Mesh(int id = 0) 
+    {
+        // for backward a = 0 initialization syntax
+        lowers = nullptr;
+        uppers = nullptr;
+        num_points = 0;
+        num_tris = 0;
+        context = nullptr;
+        solid_angle_props = nullptr;	
+        average_edge_length = 0.0f;
+    }
+
+    inline CUDA_CALLABLE Mesh(
+        array_t<vec3> points,
+        array_t<vec3> velocities,
+        array_t<int> indices,
+        int num_points,
+        int num_tris,
+        void* context = nullptr
+    ) : points(points), velocities(velocities), indices(indices), num_points(num_points), num_tris(num_tris), context(context)
+    {
+        lowers = nullptr;
+        uppers = nullptr;
+        solid_angle_props = nullptr;
+        average_edge_length = 0.0f;
+    }
+};
+
+CUDA_CALLABLE inline Mesh mesh_get(uint64_t id)
+{
+    return *(Mesh*)(id);
+}
+
+
+CUDA_CALLABLE inline Mesh& operator += (Mesh& a, const Mesh& b) {
+    // dummy operator needed for adj_select involving meshes
+    return a;
+}
+
+CUDA_CALLABLE inline float distance_to_aabb_sq(const vec3& p, const vec3& lower, const vec3& upper)
+{
+    vec3 cp = closest_point_to_aabb(p, lower, upper);
+
+    return length_sq(p-cp);
+}
+
+CUDA_CALLABLE inline float furthest_distance_to_aabb_sq(const vec3& p, const vec3& lower, const vec3& upper)
+{
+    vec3 c0 = vec3(lower[0], lower[1], lower[2]);
+    vec3 c1 = vec3(lower[0], lower[1], upper[2]);
+    vec3 c2 = vec3(lower[0], upper[1], lower[2]);
+    vec3 c3 = vec3(lower[0], upper[1], upper[2]);
+    vec3 c4 = vec3(upper[0], lower[1], lower[2]);
+    vec3 c5 = vec3(upper[0], lower[1], upper[2]);
+    vec3 c6 = vec3(upper[0], upper[1], lower[2]);
+    vec3 c7 = vec3(upper[0], upper[1], upper[2]);
+    
+    float max_dist_sq = 0.0;
+    float d;
+
+    d = length_sq(p-c0);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c1);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c2);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c3);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c4);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c5);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c6);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    d = length_sq(p-c7);
+    if (d > max_dist_sq)
+        max_dist_sq = d;
+
+    return max_dist_sq;
+}
+
+CUDA_CALLABLE inline float mesh_query_inside(uint64_t id, const vec3& p);
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = max_dist*max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+    
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            // compute closest point on tri
+            int i = mesh.indices[left_index*3+0];
+            int j = mesh.indices[left_index*3+1];
+            int k = mesh.indices[left_index*3+2];
+
+            vec3 p = mesh.points[i];
+            vec3 q = mesh.points[j];
+            vec3 r = mesh.points[k];
+            
+            vec3 e0 = q-p;
+            vec3 e1 = r-p;
+            vec3 e2 = r-q;
+            vec3 normal = cross(e0, e1);
+            
+            // sliver detection
+            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
+                continue;
+
+            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+            float u = barycentric[0];
+            float v = barycentric[1];
+            float w = 1.f - u - v;
+            vec3 c = u*p + v*q + w*r;
+
+            float dist_sq = length_sq(c-point);
+
+            if (dist_sq < min_dist_sq)
+            {
+                min_dist_sq = dist_sq;
+                min_v = v;
+                min_w = w;
+                min_face = left_index;
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
+            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
+
+            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
+            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            float left_score = left_dist_sq;
+            float right_score = right_dist_sq;
+
+            if (left_score < right_score)
+            {
+                // put left on top of the stack
+                if (right_dist_sq < min_dist_sq)
+                    stack[count++] = right_index;
+
+                if (left_dist_sq < min_dist_sq)
+                    stack[count++] = left_index;
+            }
+            else
+            {
+                // put right on top of the stack
+                if (left_dist_sq < min_dist_sq)
+                    stack[count++] = left_index;
+
+                if (right_dist_sq < min_dist_sq)
+                    stack[count++] = right_index;
+            }
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq < max_dist*max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        // determine inside outside using ray-cast parity check
+        inside = mesh_query_inside(id, point);
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, int& face, float& u, float& v)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = max_dist*max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+    
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            // compute closest point on tri
+            int i = mesh.indices[left_index*3+0];
+            int j = mesh.indices[left_index*3+1];
+            int k = mesh.indices[left_index*3+2];
+
+            vec3 p = mesh.points[i];
+            vec3 q = mesh.points[j];
+            vec3 r = mesh.points[k];
+            
+            vec3 e0 = q-p;
+            vec3 e1 = r-p;
+            vec3 e2 = r-q;
+            vec3 normal = cross(e0, e1);
+            
+            // sliver detection
+            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
+                continue;
+
+            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+            float u = barycentric[0];
+            float v = barycentric[1];
+            float w = 1.f - u - v;
+            vec3 c = u*p + v*q + w*r;
+
+            float dist_sq = length_sq(c-point);
+
+            if (dist_sq < min_dist_sq)
+            {
+                min_dist_sq = dist_sq;
+                min_v = v;
+                min_w = w;
+                min_face = left_index;
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
+            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
+
+            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
+            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            float left_score = left_dist_sq;
+            float right_score = right_dist_sq;
+
+            if (left_score < right_score)
+            {
+                // put left on top of the stack
+                if (right_dist_sq < min_dist_sq)
+                    stack[count++] = right_index;
+
+                if (left_dist_sq < min_dist_sq)
+                    stack[count++] = left_index;
+            }
+            else
+            {
+                // put right on top of the stack
+                if (left_dist_sq < min_dist_sq)
+                    stack[count++] = left_index;
+
+                if (right_dist_sq < min_dist_sq)
+                    stack[count++] = right_index;
+            }
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq < max_dist*max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+// returns true if there is a point (strictly) > distance min_dist
+CUDA_CALLABLE inline bool mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, int& face, float& u, float& v)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float max_dist_sq = min_dist*min_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+    
+        // re-test distance
+        float node_dist_sq = furthest_distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        
+        // if maximum distance to this node is less than our existing furthest max then skip
+        if (node_dist_sq < max_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            // compute closest point on tri
+            int i = mesh.indices[left_index*3+0];
+            int j = mesh.indices[left_index*3+1];
+            int k = mesh.indices[left_index*3+2];
+
+            vec3 p = mesh.points[i];
+            vec3 q = mesh.points[j];
+            vec3 r = mesh.points[k];
+            
+            vec3 e0 = q-p;
+            vec3 e1 = r-p;
+            vec3 e2 = r-q;
+            vec3 normal = cross(e0, e1);
+            
+            // sliver detection
+            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
+                continue;
+
+            vec2 barycentric = furthest_point_to_triangle(p, q, r, point);
+            float u = barycentric[0];
+            float v = barycentric[1];
+            float w = 1.f - u - v;
+            vec3 c = u*p + v*q + w*r;
+
+            float dist_sq = length_sq(c-point);
+
+            if (dist_sq > max_dist_sq)
+            {
+                max_dist_sq = dist_sq;
+                min_v = v;
+                min_w = w;
+                min_face = left_index;
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) > max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
+            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
+
+            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
+            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
+
+            float left_dist_sq = furthest_distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = furthest_distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            float left_score = left_dist_sq;
+            float right_score = right_dist_sq;
+
+            if (left_score > right_score)
+            {
+                // put left on top of the stack
+                if (right_dist_sq > max_dist_sq)
+                    stack[count++] = right_index;
+
+                if (left_dist_sq > max_dist_sq)
+                    stack[count++] = left_index;
+            }
+            else
+            {
+                // put right on top of the stack
+                if (left_dist_sq > max_dist_sq)
+                    stack[count++] = left_index;
+
+                if (right_dist_sq > max_dist_sq)
+                    stack[count++] = right_index;
+            }
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(max_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (max_dist_sq > min_dist*min_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v, const float epsilon = 1e-3f)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    stack[0] = *mesh.bvh.root;
+    int count = 1;
+    float min_dist = max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+    vec3 accumulated_angle_weighted_normal;
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+    float epsilon_min_dist = mesh.average_edge_length * epsilon;
+    float epsilon_min_dist_sq = epsilon_min_dist*epsilon_min_dist;
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > (min_dist + epsilon_min_dist)*(min_dist + epsilon_min_dist))
+        {
+#if BVH_DEBUG
+            secondary_culls++;
+#endif
+            continue;
+        }
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+        if (lower.b)
+        {
+            // compute closest point on tri
+            int i = mesh.indices[left_index*3+0];
+            int j = mesh.indices[left_index*3+1];
+            int k = mesh.indices[left_index*3+2];
+            vec3 p = mesh.points[i];
+            vec3 q = mesh.points[j];
+            vec3 r = mesh.points[k];
+            vec3 e0 = q-p;
+            vec3 e1 = r-p;
+            vec3 e2 = r-q;
+            vec3 normal = cross(e0, e1);
+            // sliver detection
+            float e0_norm_sq = dot(e0,e0);
+            float e1_norm_sq = dot(e1,e1);
+            float e2_norm_sq = dot(e2,e2);
+            if (length(normal)/(e0_norm_sq + e1_norm_sq + e2_norm_sq) < 1.e-6f)
+                continue;
+            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+            float u = barycentric[0];
+            float v = barycentric[1];
+            float w = 1.f - u - v;
+            vec3 c = u*p + v*q + w*r;
+            float dist = sqrtf(length_sq(c-point));
+            if (dist < min_dist + epsilon_min_dist)
+            {
+                float weight = 0.0f;
+                vec3 cp = c-p;
+                vec3 cq = c-q;
+                vec3 cr = c-r;
+                float len_cp_sq = length_sq(cp);
+                float len_cq_sq = length_sq(cq);
+                float len_cr_sq = length_sq(cr);
+                
+                // Check if near vertex
+                if (len_cp_sq < epsilon_min_dist_sq)
+                {
+                    // Vertex 0 is the closest feature
+                    weight = acosf(dot(normalize(e0), normalize(e1)));
+                } else
+                if (len_cq_sq < epsilon_min_dist_sq)
+                {
+                    // Vertex 1 is the closest feature
+                    weight = acosf(dot(normalize(e2), normalize(-e0)));
+                } else
+                if (len_cr_sq < epsilon_min_dist_sq)
+                {
+                    // Vertex 2 is the closest feature
+                    weight = acosf(dot(normalize(-e1), normalize(-e2)));
+                } else
+                {
+                    float e0cp = dot(e0, cp);
+                    float e2cq = dot(e2, cq);
+                    float e1cp = dot(e1, cp);
+
+                    if ((len_cp_sq*e0_norm_sq-e0cp*e0cp < epsilon_min_dist_sq*e0_norm_sq) ||
+                        (len_cq_sq*e2_norm_sq-e2cq*e2cq < epsilon_min_dist_sq*e2_norm_sq) ||
+                        (len_cp_sq*e1_norm_sq-e1cp*e1cp < epsilon_min_dist_sq*e1_norm_sq)) {
+                        // One of the edge
+                        weight = 3.14159265359f;  // PI
+                    } else {
+                        weight = 2.0f*3.14159265359f; // 2*PI
+                    }
+                }
+
+                if (dist > min_dist - epsilon_min_dist) 
+                {
+                    // Treat as equal
+                    accumulated_angle_weighted_normal += weight*normalize(normal);
+                    if (dist < min_dist) 
+                    {
+                        min_dist = dist;
+                        min_v = v;
+                        min_w = w;
+                        min_face = left_index;
+                    }
+                } else {
+                    // Less
+                    min_dist = dist;
+                    min_v = v;
+                    min_w = w;
+                    min_face = left_index;
+                    accumulated_angle_weighted_normal = weight*normalize(normal);
+                }
+            }
+#if BVH_DEBUG
+            tests++;
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < (max_dist+epsilon_min_dist)*(max_dist+epsilon_min_dist))
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
+            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
+            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
+            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            float left_score = left_dist_sq;
+            float right_score = right_dist_sq;
+
+            if (left_score < right_score)
+            {
+                // put left on top of the stack
+                if (right_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
+                    stack[count++] = right_index;
+                if (left_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
+                    stack[count++] = left_index;
+            }
+            else
+            {
+                // put right on top of the stack
+                if (left_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
+                    stack[count++] = left_index;
+                if (right_dist_sq < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
+                    stack[count++] = right_index;
+            }
+        }
+    }
+#if BVH_DEBUG
+    printf("%d\n", tests);
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = min_dist;
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n",
+            test_history[i],
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+        fclose(f);
+    }
+#endif
+    // check if we found a point, and write outputs
+    if (min_dist < max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        // determine inside outside using ray-cast parity check
+        //inside = mesh_query_inside(id, point);
+        int i = mesh.indices[min_face*3+0];
+        int j = mesh.indices[min_face*3+1];
+        int k = mesh.indices[min_face*3+2];
+        vec3 p = mesh.points[i];
+        vec3 q = mesh.points[j];
+        vec3 r = mesh.points[k];
+        vec3 closest_point = p*u+q*v+r*min_w;
+        if (dot(accumulated_angle_weighted_normal, point-closest_point) > 0.0) 
+        {
+            inside = 1.0f;
+        } else 
+        {
+            inside = -1.0f;
+        }
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+CUDA_CALLABLE inline float solid_angle_iterative(uint64_t id, const vec3& p, const float accuracy_sq)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    int at_child[32]; // 0 for left, 1 for right, 2 for done	
+    float angle[32]; 
+    stack[0] = *mesh.bvh.root;	
+    at_child[0] = 0;
+
+    int count = 1;
+    angle[0] = 0.0f;
+
+    while (count)
+    {
+        const int nodeIndex = stack[count - 1];
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+    
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+        if (lower.b)
+        {
+            // compute closest point on tri
+            const int leaf_index = left_index;
+            angle[count - 1] = robust_solid_angle(mesh.points[mesh.indices[leaf_index*3+0]], mesh.points[mesh.indices[leaf_index*3+1]], mesh.points[mesh.indices[leaf_index*3+2]], p);
+            //printf("Leaf %d, got %f\n", leaf_index, my_data[count - 1]);
+            count--;
+        }
+        else
+        {
+            // See if I have to descend
+            if (at_child[count - 1] == 0) 
+            {
+                // First visit
+                bool des = evaluate_node_solid_angle(p, &mesh.solid_angle_props[nodeIndex], angle[count - 1], accuracy_sq); 
+
+                //printf("Non-Leaf %d, got %f\n", nodeIndex, angle[count - 1]);
+                if (des) 
+                {
+                    // Go left
+                    stack[count] = left_index;
+                    at_child[count - 1] = 1;
+                    angle[count] = 0.0f;
+                    at_child[count] = 0;
+                    count++;
+                } else 
+                {				
+                    // Does not descend done
+                    count--;
+                }
+            } else
+            if (at_child[count - 1] == 1) 
+            {
+                // Add data to parent
+                angle[count - 1] += angle[count];
+                // Go right
+                stack[count] = right_index;
+                at_child[count - 1] = 2;
+                angle[count] = 0.0f;			
+                at_child[count] = 0;
+                count++;					
+            } else {
+                // Descend both sides already
+                angle[count - 1] += angle[count];
+                count--;
+            }
+        }
+    }
+    return angle[0];
+}
+
+CUDA_CALLABLE inline float mesh_query_winding_number(uint64_t id, const vec3& p, const float accuracy) 
+{	
+    float angle = solid_angle_iterative(id, p, accuracy*accuracy);
+    return angle * 0.07957747154; // divided by 4 PI
+}
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v, const float accuracy, const float winding_number_threshold)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = max_dist*max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+    
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            // compute closest point on tri
+            int i = mesh.indices[left_index*3+0];
+            int j = mesh.indices[left_index*3+1];
+            int k = mesh.indices[left_index*3+2];
+
+            vec3 p = mesh.points[i];
+            vec3 q = mesh.points[j];
+            vec3 r = mesh.points[k];
+            
+            vec3 e0 = q-p;
+            vec3 e1 = r-p;
+            vec3 e2 = r-q;
+            vec3 normal = cross(e0, e1);
+            
+            // sliver detection
+            if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
+                continue;
+
+            vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+            float u = barycentric[0];
+            float v = barycentric[1];
+            float w = 1.f - u - v;
+            vec3 c = u*p + v*q + w*r;
+
+            float dist_sq = length_sq(c-point);
+
+            if (dist_sq < min_dist_sq)
+            {
+                min_dist_sq = dist_sq;
+                min_v = v;
+                min_w = w;
+                min_face = left_index;
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = mesh.bvh.node_lowers[left_index];
+            BVHPackedNodeHalf left_upper = mesh.bvh.node_uppers[left_index];
+
+            BVHPackedNodeHalf right_lower = mesh.bvh.node_lowers[right_index];
+            BVHPackedNodeHalf right_upper = mesh.bvh.node_uppers[right_index];
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            float left_score = left_dist_sq;
+            float right_score = right_dist_sq;
+
+            if (left_score < right_score)
+            {
+                // put left on top of the stack
+                if (right_dist_sq < min_dist_sq)
+                    stack[count++] = right_index;
+
+                if (left_dist_sq < min_dist_sq)
+                    stack[count++] = left_index;
+            }
+            else
+            {
+                // put right on top of the stack
+                if (left_dist_sq < min_dist_sq)
+                    stack[count++] = left_index;
+
+                if (right_dist_sq < min_dist_sq)
+                    stack[count++] = right_index;
+            }
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq < max_dist*max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        // determine inside outside using ray-cast parity check
+        if (!mesh.solid_angle_props) {
+            inside = mesh_query_inside(id, point);
+        }
+        else {
+            float winding_number = mesh_query_winding_number(id, point, accuracy);
+            inside = (winding_number > winding_number_threshold) ? -1.0f:1.0f;
+        }
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, const int& face, const float& u, const float& v,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+    
+    // face is determined by BVH in forward pass
+    int i = mesh.indices[face*3+0];
+    int j = mesh.indices[face*3+1];
+    int k = mesh.indices[face*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    vec3 adj_p, adj_q, adj_r;
+
+    vec2 adj_uv(adj_u, adj_v);
+
+    adj_closest_point_to_triangle(p, q, r, point, adj_p, adj_q, adj_r, adj_point, adj_uv);	
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, const int& face, const float& u, const float& v,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_min_dist, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+    
+    // face is determined by BVH in forward pass
+    int i = mesh.indices[face*3+0];
+    int j = mesh.indices[face*3+1];
+    int k = mesh.indices[face*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    vec3 adj_p, adj_q, adj_r;
+
+    vec2 adj_uv(adj_u, adj_v);
+
+    adj_closest_point_to_triangle(p, q, r, point, adj_p, adj_q, adj_r, adj_point, adj_uv);	 // Todo for Miles :>
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v, const float epsilon,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, float& adj_epsilon, bool& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v, const float accuracy, const float winding_number_threshold,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, float& adj_accuracy, float& adj_winding_number_threshold, bool& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
+}
+
+
+// Stores the result of querying the closest point on a mesh.
+struct mesh_query_point_t
+{
+    CUDA_CALLABLE mesh_query_point_t()
+        : result(false),
+          sign(0.0f),
+          face(0),
+          u(0.0f),
+          v(0.0f)
+    {}
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline mesh_query_point_t& operator+=(const mesh_query_point_t& other)
+    {
+        result += other.result;
+        sign += other.sign;
+        face += other.face;
+        u += other.u;
+        v += other.v;
+        return *this;
+    }
+
+    bool result;
+    float sign;
+    int face;
+    float u;
+    float v;
+};
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point(uint64_t id, const vec3& point, float max_dist)
+{
+    mesh_query_point_t query;
+    query.result = mesh_query_point(id, point, max_dist, query.sign, query.face, query.u, query.v);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist)
+{
+    mesh_query_point_t query;
+    query.sign = 0.0;
+    query.result = mesh_query_point_no_sign(id, point, max_dist, query.face, query.u, query.v);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist)
+{
+    mesh_query_point_t query;
+    query.sign = 0.0;
+    query.result = mesh_query_furthest_point_no_sign(id, point, min_dist, query.face, query.u, query.v);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, const float epsilon = 1e-3f)
+{
+    mesh_query_point_t query;
+    query.result = mesh_query_point_sign_normal(id, point, max_dist, query.sign, query.face, query.u, query.v, epsilon);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float accuracy, float winding_number_threshold)
+{
+    mesh_query_point_t query;
+    query.result = mesh_query_point_sign_winding_number(id, point, max_dist, query.sign, query.face, query.u, query.v, accuracy, winding_number_threshold);
+    return query;
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point(uint64_t id, const vec3& point, float max_dist, const mesh_query_point_t& ret,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v,
+                         adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, const mesh_query_point_t& ret,
+                                                       uint64_t adj_id, vec3& adj_point, float& adj_max_dist, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, ret.face, ret.u, ret.v,
+                                adj_id, adj_point, adj_max_dist, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, const mesh_query_point_t& ret,
+                                                                uint64_t adj_id, vec3& adj_point, float& adj_min_dist, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_furthest_point_no_sign(id, point, min_dist, ret.face, ret.u, ret.v,
+                                          adj_id, adj_point, adj_min_dist, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, float epsilon, const mesh_query_point_t& ret,
+                                                           uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_epsilon, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point_sign_normal(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v, epsilon,
+                                     adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, epsilon, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float accuracy, float winding_number_threshold, const mesh_query_point_t& ret,
+                                                                   uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_accuracy, float& adj_winding_number_threshold, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point_sign_winding_number(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v, accuracy, winding_number_threshold,
+                                             adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, adj_accuracy, adj_winding_number_threshold, adj_ret.result);
+}
+
+CUDA_CALLABLE inline bool mesh_query_ray(uint64_t id, const vec3& start, const vec3& dir, float max_t, float& t, float& u, float& v, float& sign, vec3& normal, int& face)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[32];
+    stack[0] = *mesh.bvh.root;
+    int count = 1;
+
+    vec3 rcp_dir = vec3(1.0f/dir[0], 1.0f/dir[1], 1.0f/dir[2]);
+
+    float min_t = max_t;
+    int min_face;
+    float min_u;
+    float min_v;
+    float min_sign = 1.0f;
+    vec3 min_normal;
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf upper = mesh.bvh.node_uppers[nodeIndex];
+
+        // todo: switch to robust ray-aabb, or expand bounds in build stage
+        float eps = 1.e-3f;
+        float t = 0.0f;
+        bool hit = intersect_ray_aabb(start, rcp_dir, vec3(lower.x-eps, lower.y-eps, lower.z-eps), vec3(upper.x+eps, upper.y+eps, upper.z+eps), t);
+
+        if (hit && t < min_t)
+        {
+            const int left_index = lower.i;
+            const int right_index = upper.i;
+
+            if (lower.b)
+            {	
+                // compute closest point on tri
+                int i = mesh.indices[left_index*3+0];
+                int j = mesh.indices[left_index*3+1];
+                int k = mesh.indices[left_index*3+2];
+
+                vec3 p = mesh.points[i];
+                vec3 q = mesh.points[j];
+                vec3 r = mesh.points[k];
+
+                float t, u, v, sign;
+                vec3 n;
+                
+                if (intersect_ray_tri_woop(start, dir, p, q, r, t, u, v, sign, &n))
+                {
+                    if (t < min_t && t >= 0.0f)
+                    {
+                        min_t = t;
+                        min_face = left_index;
+                        min_u = u;
+                        min_v = v;
+                        min_sign = sign;
+                        min_normal = n;
+                    }
+                }
+            }
+            else
+            {
+                stack[count++] = left_index;
+                stack[count++] = right_index;
+            }
+        }
+    }
+
+    if (min_t < max_t)
+    {
+        // write outputs
+        u = min_u;
+        v = min_v;
+        sign = min_sign;
+        t = min_t;
+        normal = normalize(min_normal);
+        face = min_face;
+
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+    
+}
+
+
+CUDA_CALLABLE inline void adj_mesh_query_ray(
+    uint64_t id, const vec3& start, const vec3& dir, float max_t, float t, float u, float v, float sign, const vec3& n, int face,
+    uint64_t adj_id, vec3& adj_start, vec3& adj_dir, float& adj_max_t, float& adj_t, float& adj_u, float& adj_v, float& adj_sign, vec3& adj_n, int& adj_face, bool& adj_ret)
+{
+
+    Mesh mesh = mesh_get(id);
+    
+    // face is determined by BVH in forward pass
+    int i = mesh.indices[face*3+0];
+    int j = mesh.indices[face*3+1];
+    int k = mesh.indices[face*3+2];
+
+    vec3 a = mesh.points[i];
+    vec3 b = mesh.points[j];
+    vec3 c = mesh.points[k];
+
+    vec3 adj_a, adj_b, adj_c;
+
+    adj_intersect_ray_tri_woop(start, dir, a, b, c, t, u, v, sign, n, adj_start, adj_dir, adj_a, adj_b, adj_c, adj_t, adj_u, adj_v, adj_sign, adj_n, adj_ret);
+
+}
+
+
+// Stores the result of querying the closest point on a mesh.
+struct mesh_query_ray_t
+{
+    CUDA_CALLABLE mesh_query_ray_t()
+        : result(false),
+          sign(0.0f),
+          face(0),
+          t(0.0f),
+          u(0.0f),
+          v(0.0f),
+          normal()
+    {
+    }
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline mesh_query_ray_t& operator+=(const mesh_query_ray_t& other)
+    {
+        result += other.result;
+        sign += other.sign;
+        face += other.face;
+        t += other.t;
+        u += other.u;
+        v += other.v;
+        normal += other.normal;
+        return *this;
+    }
+
+    bool result;
+    float sign;
+    int face;
+    float t;
+    float u;
+    float v;
+    vec3 normal;
+};
+
+CUDA_CALLABLE inline mesh_query_ray_t mesh_query_ray(uint64_t id, const vec3& start, const vec3& dir, float max_t)
+{
+    mesh_query_ray_t query;
+    query.result = mesh_query_ray(id, start, dir, max_t, query.t, query.u, query.v, query.sign, query.normal, query.face);
+    return query;
+}
+
+CUDA_CALLABLE inline void
+adj_mesh_query_ray(
+    uint64_t id, const vec3& start, const vec3& dir, float max_t, const mesh_query_ray_t& ret,
+    uint64_t adj_id, vec3& adj_start, vec3& adj_dir, float& adj_max_t, mesh_query_ray_t& adj_ret
+)
+{
+    adj_mesh_query_ray(
+        id, start, dir, max_t, ret.t, ret.u, ret.v, ret.sign, ret.normal, ret.face,
+        adj_id, adj_start, adj_dir, adj_max_t, adj_ret.t, adj_ret.u, adj_ret.v, adj_ret.sign, adj_ret.normal, adj_ret.face, adj_ret.result
+    );
+}
+
+
+// determine if a point is inside (ret < 0 ) or outside the mesh (ret > 0)
+CUDA_CALLABLE inline float mesh_query_inside(uint64_t id, const vec3& p)
+{
+    float t, u, v, sign;
+    vec3 n;
+    int face;
+
+    int vote = 0;
+
+    for(int i = 0; i <3; ++i)
+    {
+        if (mesh_query_ray(id, p, vec3(float(i==0), float(i==1), float(i==2)), FLT_MAX, t, u, v, sign, n, face) && sign < 0) 
+        {
+            vote++;
+        }
+    }
+
+    if (vote == 3)
+        return -1.0f;
+    else
+        return 1.0f;
+}
+
+// stores state required to traverse the BVH nodes that 
+// overlap with a query AABB.
+struct mesh_query_aabb_t
+{
+    CUDA_CALLABLE mesh_query_aabb_t()
+        : mesh(),
+          stack(),
+          count(0),
+          input_lower(),
+          input_upper(),
+          face(0)
+    {}
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline mesh_query_aabb_t& operator+=(const mesh_query_aabb_t& other)
+    {
+        return *this;
+    }
+
+    // Mesh Id
+    Mesh mesh;
+    // BVH traversal stack:
+    int stack[32];
+    int count;
+
+    // inputs
+    wp::vec3 input_lower;
+    wp::vec3 input_upper;
+
+    // Face
+    int face;
+};
+
+
+
+CUDA_CALLABLE inline mesh_query_aabb_t mesh_query_aabb(
+    uint64_t id, const vec3& lower, const vec3& upper)
+{
+    // This routine traverses the BVH tree until it finds
+    // the first triangle with an overlapping bvh. 
+
+    // initialize empty
+    mesh_query_aabb_t query;
+    query.face = -1;
+
+    Mesh mesh = mesh_get(id);
+    query.mesh = mesh;
+    
+    query.stack[0] = *mesh.bvh.root;
+    query.count = 1;
+    query.input_lower = lower;
+    query.input_upper = upper;
+
+    wp::bounds3 input_bounds(query.input_lower, query.input_upper);
+    
+    // Navigate through the bvh, find the first overlapping leaf node.
+    while (query.count)
+    {
+        const int nodeIndex = query.stack[--query.count];
+        BVHPackedNodeHalf node_lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf node_upper = mesh.bvh.node_uppers[nodeIndex];
+
+        wp::vec3 lower_pos(node_lower.x, node_lower.y, node_lower.z);
+        wp::vec3 upper_pos(node_upper.x, node_upper.y, node_upper.z);
+        wp::bounds3 current_bounds(lower_pos, upper_pos);
+        if (!input_bounds.overlaps(current_bounds))
+        {
+            // Skip this box, it doesn't overlap with our target box.
+            continue;
+        }
+
+        const int left_index = node_lower.i;
+        const int right_index = node_upper.i;
+
+        // Make bounds from this AABB
+        if (node_lower.b)
+        {
+            // found very first triangle index.
+            // Back up one level and return 
+            query.stack[query.count++] = nodeIndex;
+            return query;
+        }
+        else
+        {	
+          query.stack[query.count++] = left_index;
+          query.stack[query.count++] = right_index;
+        }
+    }	
+
+    return query;
+}
+
+//Stub
+CUDA_CALLABLE inline void adj_mesh_query_aabb(uint64_t id, const vec3& lower, const vec3& upper,
+                                              uint64_t, vec3&, vec3&, mesh_query_aabb_t&)
+{
+
+}
+
+CUDA_CALLABLE inline bool mesh_query_aabb_next(mesh_query_aabb_t& query, int& index)
+{
+    Mesh mesh = query.mesh;
+    
+    wp::bounds3 input_bounds(query.input_lower, query.input_upper);
+    // Navigate through the bvh, find the first overlapping leaf node.
+    while (query.count)
+    {
+        const int nodeIndex = query.stack[--query.count];
+        BVHPackedNodeHalf node_lower = mesh.bvh.node_lowers[nodeIndex];
+        BVHPackedNodeHalf node_upper = mesh.bvh.node_uppers[nodeIndex];
+
+        wp::vec3 lower_pos(node_lower.x, node_lower.y, node_lower.z);
+        wp::vec3 upper_pos(node_upper.x, node_upper.y, node_upper.z);
+        wp::bounds3 current_bounds(lower_pos, upper_pos);
+        if (!input_bounds.overlaps(current_bounds))
+        {
+            // Skip this box, it doesn't overlap with our target box.
+            continue;
+        }
+
+        const int left_index = node_lower.i;
+        const int right_index = node_upper.i;
+
+        // Make bounds from this AABB
+        if (node_lower.b)
+        {
+            // found very first triangle index
+            query.face = left_index;
+            index = left_index;
+            return true;
+        }
+        else
+        {
+
+            query.stack[query.count++] = left_index;
+            query.stack[query.count++] = right_index;
+        }
+    }
+    return false;
+}
+
+
+CUDA_CALLABLE inline int iter_next(mesh_query_aabb_t& query)
+{
+    return query.face;
+}
+
+CUDA_CALLABLE inline bool iter_cmp(mesh_query_aabb_t& query)
+{
+    bool finished = mesh_query_aabb_next(query, query.face);
+    return finished;
+}
+
+CUDA_CALLABLE inline mesh_query_aabb_t iter_reverse(const mesh_query_aabb_t& query)
+{
+    // can't reverse BVH queries, users should not rely on neighbor ordering
+    return query;
+}
+
+
+// stub
+CUDA_CALLABLE inline void adj_mesh_query_aabb_next(mesh_query_aabb_t& query, int& index, mesh_query_aabb_t&, int&, bool&) 
+{
+
+}
+
+
+CUDA_CALLABLE inline vec3 mesh_eval_position(uint64_t id, int tri, float u, float v)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return vec3();
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    return p*u + q*v + r*(1.0f-u-v);
+}
+
+CUDA_CALLABLE inline vec3 mesh_eval_velocity(uint64_t id, int tri, float u, float v)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.velocities)
+        return vec3();
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 vp = mesh.velocities[i];
+    vec3 vq = mesh.velocities[j];
+    vec3 vr = mesh.velocities[k];
+
+    return vp*u + vq*v + vr*(1.0f-u-v);
+}
+
+
+CUDA_CALLABLE inline void adj_mesh_eval_position(uint64_t id, int tri, float u, float v,
+                                                 uint64_t& adj_id, int& adj_tri, float& adj_u, float& adj_v, const vec3& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return;
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    adj_u += (p[0] - r[0]) * adj_ret[0] + (p[1] - r[1]) * adj_ret[1] + (p[2] - r[2]) * adj_ret[2];
+    adj_v += (q[0] - r[0]) * adj_ret[0] + (q[1] - r[1]) * adj_ret[1] + (q[2] - r[2]) * adj_ret[2];
+}
+
+CUDA_CALLABLE inline void adj_mesh_eval_velocity(uint64_t id, int tri, float u, float v,
+                                                 uint64_t& adj_id, int& adj_tri, float& adj_u, float& adj_v, const vec3& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.velocities)
+        return;
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 vp = mesh.velocities[i];
+    vec3 vq = mesh.velocities[j];
+    vec3 vr = mesh.velocities[k];
+
+    adj_u += (vp[0] - vr[0]) * adj_ret[0] + (vp[1] - vr[1]) * adj_ret[1] + (vp[2] - vr[2]) * adj_ret[2];
+    adj_v += (vq[0] - vr[0]) * adj_ret[0] + (vq[1] - vr[1]) * adj_ret[1] + (vq[2] - vr[2]) * adj_ret[2];
+}
+
+CUDA_CALLABLE inline vec3 mesh_eval_face_normal(uint64_t id, int tri)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return vec3();
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    return normalize(cross(q - p, r - p));
+}
+
+CUDA_CALLABLE inline void adj_mesh_eval_face_normal(uint64_t id, int tri,
+                                                    uint64_t& adj_id, int& adj_tri, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE inline vec3 mesh_get_point(uint64_t id, int index)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return vec3();
+
+#if FP_CHECK
+    if (index >= mesh.num_tris * 3)
+    {
+        printf("mesh_get_point (%llu, %d) out of bounds at %s:%d\n", id, index, __FILE__, __LINE__);
+        assert(0);
+    }
+#endif
+
+    int i = mesh.indices[index];
+    return mesh.points[i];
+}
+
+CUDA_CALLABLE inline void adj_mesh_get_point(uint64_t id, int index,
+                                             uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE inline vec3 mesh_get_velocity(uint64_t id, int index)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.velocities)
+        return vec3();
+
+#if FP_CHECK
+    if (index >= mesh.num_tris * 3)
+    {
+        printf("mesh_get_velocity (%llu, %d) out of bounds at %s:%d\n", id, index, __FILE__, __LINE__);
+        assert(0);
+    }
+#endif
+
+    int i = mesh.indices[index];
+    return mesh.velocities[i];
+}
+
+CUDA_CALLABLE inline void adj_mesh_get_velocity(uint64_t id, int index,
+                                                uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE inline int mesh_get_index(uint64_t id, int face_vertex_index)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.indices)
+        return -1;
+
+    assert(face_vertex_index < mesh.num_tris * 3);
+
+    return mesh.indices[face_vertex_index];
+}
+
+CUDA_CALLABLE inline void adj_mesh_get_index(uint64_t id, int index,
+                                             uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE bool mesh_get_descriptor(uint64_t id, Mesh& mesh);
+CUDA_CALLABLE void mesh_add_descriptor(uint64_t id, const Mesh& mesh);
+CUDA_CALLABLE void mesh_rem_descriptor(uint64_t id);
+
+} // namespace wp