warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl

warp/native/quat.h

@@ -1,1085 +1,1085 @@
-/** 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 "mat.h"
-
-namespace wp
-{
-
-template<typename Type>
-struct quat_t
-{
-    // zero constructor for adjoint variable initialization
-    inline CUDA_CALLABLE quat_t(Type x=Type(0), Type y=Type(0), Type z=Type(0), Type w=Type(0)) : x(x), y(y), z(z), w(w) {}    
-    explicit inline CUDA_CALLABLE quat_t(const vec_t<3,Type>& v, Type w=Type(0)) : x(v[0]), y(v[1]), z(v[2]), w(w) {}
-    
-    template<typename OtherType>
-    explicit inline CUDA_CALLABLE quat_t(const quat_t<OtherType>& other)
-    {
-        x = static_cast<Type>(other.x);
-        y = static_cast<Type>(other.y);
-        z = static_cast<Type>(other.z);
-        w = static_cast<Type>(other.w);
-    }
-
-    // imaginary part
-    Type x;
-    Type y;
-    Type z;
-    
-    // real part
-    Type w;
-};
-
-using quat = quat_t<float>;
-using quath = quat_t<half>;
-using quatf = quat_t<float>;
-using quatd = quat_t<double>;
-
-
-template<typename Type>
-inline CUDA_CALLABLE bool operator==(const quat_t<Type>& a, const quat_t<Type>& b)
-{
-    return a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w;
-}
-
-template<typename Type>
-inline bool CUDA_CALLABLE isfinite(const quat_t<Type>& q)
-{
-    return isfinite(q.x) && isfinite(q.y) && isfinite(q.z) && isfinite(q.w);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> atomic_add(quat_t<Type> * addr, quat_t<Type> value) 
-{
-    Type x = atomic_add(&(addr -> x), value.x);
-    Type y = atomic_add(&(addr -> y), value.y);
-    Type z = atomic_add(&(addr -> z), value.z);
-    Type w = atomic_add(&(addr -> w), value.w);
-
-    return quat_t<Type>(x, y, z, w);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_t(Type x, Type y, Type z, Type w, Type& adj_x, Type& adj_y, Type& adj_z, Type& adj_w, quat_t<Type> adj_ret)
-{
-    adj_x += adj_ret.x;
-    adj_y += adj_ret.y;
-    adj_z += adj_ret.z;
-    adj_w += adj_ret.w;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_t(const vec_t<3,Type>& v, Type w, vec_t<3,Type>& adj_v, Type& adj_w, quat_t<Type> adj_ret)
-{
-    adj_v[0] += adj_ret.x;
-    adj_v[1] += adj_ret.y;
-    adj_v[2] += adj_ret.z;
-    adj_w    += adj_ret.w;
-}
-
-// casting constructor adjoint
-template<typename Type, typename OtherType>
-inline CUDA_CALLABLE void adj_quat_t(const quat_t<OtherType>& other, quat_t<OtherType>& adj_other, const quat_t<Type>& adj_ret)
-{
-    adj_other.x += static_cast<OtherType>(adj_ret.x);
-    adj_other.y += static_cast<OtherType>(adj_ret.y);
-    adj_other.z += static_cast<OtherType>(adj_ret.z);
-    adj_other.w += static_cast<OtherType>(adj_ret.w);
-}
-
-// forward methods
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> quat_from_axis_angle(const vec_t<3,Type>& axis, Type angle)
-{
-    Type half = angle*Type(Type(0.5));
-    Type w = cos(half);
-
-    Type sin_theta_over_two = sin(half);
-    vec_t<3,Type> v = axis*sin_theta_over_two;
-
-    return quat_t<Type>(v[0], v[1], v[2], w);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void quat_to_axis_angle(const quat_t<Type>& q, vec_t<3,Type>& axis, Type& angle)
-{
-    vec_t<3,Type> v = vec_t<3,Type>(q.x, q.y, q.z);
-    axis = q.w < Type(0) ? -normalize(v) : normalize(v);
-    angle = Type(2) * atan2(length(v), abs(q.w));
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> quat_rpy(Type roll, Type pitch, Type yaw)
-{
-    Type cy = cos(yaw * Type(0.5));
-    Type sy = sin(yaw * Type(0.5));
-    Type cr = cos(roll * Type(0.5));
-    Type sr = sin(roll * Type(0.5));
-    Type cp = cos(pitch * Type(0.5));
-    Type sp = sin(pitch * Type(0.5));
-
-    Type w = (cy * cr * cp + sy * sr * sp);
-    Type x = (cy * sr * cp - sy * cr * sp);
-    Type y = (cy * cr * sp + sy * sr * cp);
-    Type z = (sy * cr * cp - cy * sr * sp);
-
-    return quat_t<Type>(x, y, z, w);
-}
-
-
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> quat_inverse(const quat_t<Type>& q)
-{
-    return quat_t<Type>(-q.x, -q.y, -q.z, q.w);
-}
-
-
-template<typename Type>
-inline CUDA_CALLABLE Type dot(const quat_t<Type>& a, const quat_t<Type>& b)
-{
-    return a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE Type tensordot(const quat_t<Type>& a, const quat_t<Type>& b)
-{
-    // corresponds to `np.tensordot()` with all axes being contracted
-    return dot(a, b);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE Type length(const quat_t<Type>& q)
-{
-    return sqrt(dot(q, q));
-}
-
-template<typename Type>
-inline CUDA_CALLABLE Type length_sq(const quat_t<Type>& q)
-{
-    return dot(q, q);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> normalize(const quat_t<Type>& q)
-{
-    Type l = length(q);
-    if (l > Type(kEps))
-    {
-        Type inv_l = Type(1)/l;
-
-        return quat_t<Type>(q.x*inv_l, q.y*inv_l, q.z*inv_l, q.w*inv_l);
-    }
-    else
-    {
-        return quat_t<Type>(Type(0), Type(0), Type(0), Type(1));
-    }
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> add(const quat_t<Type>& a, const quat_t<Type>& b)
-{
-    return quat_t<Type>(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> sub(const quat_t<Type>& a, const quat_t<Type>& b)
-{
-    return quat_t<Type>(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);}
-
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> mul(const quat_t<Type>& a, const quat_t<Type>& b)
-{
-    return quat_t<Type>(a.w*b.x + b.w*a.x + a.y*b.z - b.y*a.z,
-                a.w*b.y + b.w*a.y + a.z*b.x - b.z*a.x,
-                a.w*b.z + b.w*a.z + a.x*b.y - b.x*a.y,
-                a.w*b.w - a.x*b.x - a.y*b.y - a.z*b.z);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> mul(const quat_t<Type>& a, Type s)
-{
-    return quat_t<Type>(a.x*s, a.y*s, a.z*s, a.w*s);    
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> mul(Type s, const quat_t<Type>& a)
-{
-    return mul(a, s);
-}
-
-// division
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> div(quat_t<Type> q, Type s)
-{
-    return quat_t<Type>(q.x/s, q.y/s, q.z/s, q.w/s);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> div(Type s, quat_t<Type> q)
-{
-    return quat_t<Type>(s/q.x, s/q.y, s/q.z, s/q.w);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> operator / (quat_t<Type> a, Type s)
-{
-    return div(a,s);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> operator / (Type s, quat_t<Type> a)
-{
-    return div(s,a);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> operator*(Type s, const quat_t<Type>& a)
-{
-    return mul(a, s);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> operator*(const quat_t<Type>& a, Type s)
-{
-    return mul(a, s);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE vec_t<3,Type> quat_rotate(const quat_t<Type>& q, const vec_t<3,Type>& x)
-{
-    Type c = (Type(2)*q.w*q.w-Type(1));
-    Type d = Type(2)*(q.x*x.c[0] + q.y*x.c[1] + q.z*x.c[2]);
-    return vec_t<3,Type>(
-        x.c[0]*c + q.x*d + (q.y * x[2] - q.z * x[1])*q.w*Type(2),
-        x.c[1]*c + q.y*d + (q.z * x[0] - q.x * x[2])*q.w*Type(2),
-        x.c[2]*c + q.z*d + (q.x * x[1] - q.y * x[0])*q.w*Type(2)
-    );
-}
-
-template<typename Type>
-inline CUDA_CALLABLE vec_t<3,Type> quat_rotate_inv(const quat_t<Type>& q, const vec_t<3,Type>& x)
-{
-    Type c = (Type(2)*q.w*q.w-Type(1));
-    Type d = Type(2)*(q.x*x.c[0] + q.y*x.c[1] + q.z*x.c[2]);
-    return vec_t<3,Type>(
-        x.c[0]*c + q.x*d - (q.y * x[2] - q.z * x[1])*q.w*Type(2),
-        x.c[1]*c + q.y*d - (q.z * x[0] - q.x * x[2])*q.w*Type(2),
-        x.c[2]*c + q.z*d - (q.x * x[1] - q.y * x[0])*q.w*Type(2)
-    );
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> quat_slerp(const quat_t<Type>& q0, const quat_t<Type>& q1, Type t)
-{
-    vec_t<3,Type> axis;
-    Type angle;
-    quat_to_axis_angle(mul(quat_inverse(q0), q1), axis, angle);
-    return mul(q0, quat_from_axis_angle(axis, t * angle));
-}
-
-template<typename Type>
-inline CUDA_CALLABLE mat_t<3,3,Type> quat_to_matrix(const quat_t<Type>& q)
-{
-    vec_t<3,Type> c1 = quat_rotate(q, vec_t<3,Type>(1.0, 0.0, 0.0));
-    vec_t<3,Type> c2 = quat_rotate(q, vec_t<3,Type>(0.0, 1.0, 0.0));
-    vec_t<3,Type> c3 = quat_rotate(q, vec_t<3,Type>(0.0, 0.0, 1.0));
-
-    return mat_t<3,3,Type>(c1, c2, c3);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE quat_t<Type> quat_from_matrix(const mat_t<3,3,Type>& m)
-{
-    const Type tr = m.data[0][0] + m.data[1][1] + m.data[2][2];
-    Type x, y, z, w, h = Type(0);
-
-    if (tr >= Type(0)) {
-        h = sqrt(tr + Type(1));
-        w = Type(0.5) * h;
-        h = Type(0.5) / h;
-
-        x = (m.data[2][1] - m.data[1][2]) * h;
-        y = (m.data[0][2] - m.data[2][0]) * h;
-        z = (m.data[1][0] - m.data[0][1]) * h;
-    } else {
-        size_t max_diag = 0;
-        if (m.data[1][1] > m.data[0][0]) {
-            max_diag = 1;
-        }
-        if (m.data[2][2] > m.data[max_diag][max_diag]) {
-            max_diag = 2;
-        }
-
-        if (max_diag == 0) {
-            h = sqrt((m.data[0][0] - (m.data[1][1] + m.data[2][2])) + Type(1));
-            x = Type(0.5) * h;
-            h = Type(0.5) / h;
-
-            y = (m.data[0][1] + m.data[1][0]) * h;
-            z = (m.data[2][0] + m.data[0][2]) * h;
-            w = (m.data[2][1] - m.data[1][2]) * h;
-        } else if (max_diag == 1) {
-            h = sqrt((m.data[1][1] - (m.data[2][2] + m.data[0][0])) + Type(1));
-            y = Type(0.5) * h;
-            h = Type(0.5) / h;
-
-            z = (m.data[1][2] + m.data[2][1]) * h;
-            x = (m.data[0][1] + m.data[1][0]) * h;
-            w = (m.data[0][2] - m.data[2][0]) * h;
-        } if (max_diag == 2) {
-            h = sqrt((m.data[2][2] - (m.data[0][0] + m.data[1][1])) + Type(1));
-            z = Type(0.5) * h;
-            h = Type(0.5) / h;
-
-            x = (m.data[2][0] + m.data[0][2]) * h;
-            y = (m.data[1][2] + m.data[2][1]) * h;
-            w = (m.data[1][0] - m.data[0][1]) * h;
-        }
-    }
-
-    return normalize(quat_t<Type>(x, y, z, w));
-}
-
-template<typename Type>
-inline CUDA_CALLABLE Type extract(const quat_t<Type>& a, int idx)
-{
-#if FP_CHECK
-    if (idx < 0 || idx > 3)
-    {
-        printf("quat_t index %d out of bounds at %s %d", idx, __FILE__, __LINE__);
-        assert(0);
-    }
-#endif
-
-    /*
-    * Because quat data is not stored in an array, we index the quaternion by checking all possible idx values.
-    * (&a.x)[idx] would be the preferred access strategy, but this results in undefined behavior in the clang compiler
-    * at optimization level 3.
-    */ 
-    if (idx == 0)       {return a.x;}
-    else if (idx == 1)  {return a.y;}
-    else if (idx == 2)  {return a.z;}
-    else                {return a.w;}
-}
-
-template<typename Type>
-CUDA_CALLABLE inline quat_t<Type> lerp(const quat_t<Type>& a, const quat_t<Type>& b, Type t)
-{
-    return a*(Type(1)-t) + b*t;
-}
-
-template<typename Type>
-CUDA_CALLABLE inline void adj_lerp(const quat_t<Type>& a, const quat_t<Type>& b, Type t, quat_t<Type>& adj_a, quat_t<Type>& adj_b, Type& adj_t, const quat_t<Type>& adj_ret)
-{
-    adj_a += adj_ret*(Type(1)-t);
-    adj_b += adj_ret*t;
-    adj_t += tensordot(b, adj_ret) - tensordot(a, adj_ret);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_extract(const quat_t<Type>& a, int idx, quat_t<Type>& adj_a, int & adj_idx, Type & adj_ret)
-{
-#if FP_CHECK
-    if (idx < 0 || idx > 3)
-    {
-        printf("quat_t index %d out of bounds at %s %d", idx, __FILE__, __LINE__);
-        assert(0);
-    }
-#endif
-
-    // See wp::extract(const quat_t<Type>& a, int idx) note
-    if (idx == 0)       {adj_a.x += adj_ret;}
-    else if (idx == 1)  {adj_a.y += adj_ret;}
-    else if (idx == 2)  {adj_a.z += adj_ret;}
-    else                {adj_a.w += adj_ret;}
-}
-
-
-// backward methods
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_from_axis_angle(const vec_t<3,Type>& axis, Type angle, vec_t<3,Type>& adj_axis, Type& adj_angle, const quat_t<Type>& adj_ret)
-{
-    vec_t<3,Type> v = vec_t<3,Type>(adj_ret.x, adj_ret.y, adj_ret.z);
-
-    Type s = sin(angle*Type(0.5));
-    Type c = cos(angle*Type(0.5));
-
-    quat_t<Type> dqda = quat_t<Type>(axis[0]*c, axis[1]*c, axis[2]*c, -s)*Type(0.5);
-
-    adj_axis += v*s;
-    adj_angle += dot(dqda, adj_ret);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_to_axis_angle(const quat_t<Type>& q, vec_t<3,Type>& axis, Type& angle, quat_t<Type>& adj_q, const vec_t<3,Type>& adj_axis, const Type& adj_angle)
-{   
-    Type l = length(vec_t<3,Type>(q.x, q.y, q.z));
-
-    Type ax_qx = Type(0);
-    Type ax_qy = Type(0);
-    Type ax_qz = Type(0);
-    Type ay_qx = Type(0);
-    Type ay_qy = Type(0);
-    Type ay_qz = Type(0);
-    Type az_qx = Type(0);
-    Type az_qy = Type(0);
-    Type az_qz = Type(0);
-
-    Type t_qx = Type(0);
-    Type t_qy = Type(0);
-    Type t_qz = Type(0);
-    Type t_qw = Type(0);
-
-    Type flip = q.w < Type(0) ? -1.0 : 1.0;
-
-    if (l > Type(0))
-    {
-        Type l_sq = l*l;
-        Type l_inv = Type(1) / l;
-        Type l_inv_sq = l_inv * l_inv;
-        Type l_inv_cu = l_inv_sq * l_inv;
-        
-        Type C = flip * l_inv_cu;
-        ax_qx = C * (q.y*q.y + q.z*q.z);
-        ax_qy = -C * q.x*q.y;
-        ax_qz = -C * q.x*q.z;
-        ay_qx = -C * q.y*q.x;
-        ay_qy = C * (q.x*q.x + q.z*q.z);
-        ay_qz = -C * q.y*q.z;
-        az_qx = -C * q.z*q.x;
-        az_qy = -C * q.z*q.y;
-        az_qz = C * (q.x*q.x + q.y*q.y);
-
-        Type D = Type(2) * flip / (l_sq + q.w*q.w);
-        t_qx = D * l_inv * q.x * q.w;
-        t_qy = D * l_inv * q.y * q.w;
-        t_qz = D * l_inv * q.z * q.w;
-        t_qw = -D * l;
-    }
-    else
-    {
-        if (abs(q.w) > Type(kEps))
-        {
-            Type t_qx = Type(2) / (sqrt(Type(3)) * abs(q.w));
-            Type t_qy = Type(2) / (sqrt(Type(3)) * abs(q.w));
-            Type t_qz = Type(2) / (sqrt(Type(3)) * abs(q.w));
-        }
-        // o/w we have a null quat_t which cannot backpropagate 
-    }
-
-    adj_q.x += ax_qx * adj_axis[0] + ay_qx * adj_axis[1] + az_qx * adj_axis[2] + t_qx * adj_angle;
-    adj_q.y += ax_qy * adj_axis[0] + ay_qy * adj_axis[1] + az_qy * adj_axis[2] + t_qy * adj_angle;
-    adj_q.z += ax_qz * adj_axis[0] + ay_qz * adj_axis[1] + az_qz * adj_axis[2] + t_qz * adj_angle;
-    adj_q.w += t_qw * adj_angle;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_rpy(Type roll, Type pitch, Type yaw, Type& adj_roll, Type& adj_pitch, Type& adj_yaw, const quat_t<Type>& adj_ret)
-{
-    Type cy = cos(yaw * Type(0.5));
-    Type sy = sin(yaw * Type(0.5));
-    Type cr = cos(roll * Type(0.5));
-    Type sr = sin(roll * Type(0.5));
-    Type cp = cos(pitch * Type(0.5));
-    Type sp = sin(pitch * Type(0.5));
-
-    Type w = (cy * cr * cp + sy * sr * sp);
-    Type x = (cy * sr * cp - sy * cr * sp);
-    Type y = (cy * cr * sp + sy * sr * cp);
-    Type z = (sy * cr * cp - cy * sr * sp);
-
-    Type dx_dr = Type(0.5) * w;
-    Type dx_dp = -Type(0.5) * cy * sr * sp - Type(0.5) * sy * cr * cp;
-    Type dx_dy = -Type(0.5) * y;
-
-    Type dy_dr = Type(0.5) * z;
-    Type dy_dp = Type(0.5) * cy * cr * cp - Type(0.5) * sy * sr * sp;
-    Type dy_dy = Type(0.5) * x;
-
-    Type dz_dr = -Type(0.5) * y;
-    Type dz_dp = -Type(0.5) * sy * cr * sp - Type(0.5) * cy * sr * cp;
-    Type dz_dy = Type(0.5) * w;
-
-    Type dw_dr = -Type(0.5) * x;
-    Type dw_dp = -Type(0.5) * cy * cr * sp + Type(0.5) * sy * sr * cp;
-    Type dw_dy = -Type(0.5) * z;
-
-    adj_roll += dot(quat_t<Type>(dx_dr, dy_dr, dz_dr, dw_dr), adj_ret);
-    adj_pitch += dot(quat_t<Type>(dx_dp, dy_dp, dz_dp, dw_dp), adj_ret);
-    adj_yaw += dot(quat_t<Type>(dx_dy, dy_dy, dz_dy, dw_dy), adj_ret);
-}
-
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_dot(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const Type adj_ret)
-{
-    adj_a += b*adj_ret;
-    adj_b += a*adj_ret;    
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void tensordot(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const Type adj_ret)
-{
-    adj_dot(a, b, adj_a, adj_b, adj_ret);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_length(const quat_t<Type>& a, Type ret, quat_t<Type>& adj_a, const Type adj_ret)
-{
-    if (ret > Type(kEps))
-    {
-        Type inv_l = Type(1)/ret;
-
-        adj_a += quat_t<Type>(a.x*inv_l, a.y*inv_l, a.z*inv_l, a.w*inv_l) * adj_ret;
-    }
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_length_sq(const quat_t<Type>& a, quat_t<Type>& adj_a, const Type adj_ret)
-{
-    adj_a += Type(2)*a*adj_ret;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_normalize(const quat_t<Type>& q, quat_t<Type>& adj_q, const quat_t<Type>& adj_ret)
-{
-    Type l = length(q);
-
-    if (l > Type(kEps))
-    {
-        Type l_inv = Type(1)/l;
-
-        adj_q += adj_ret*l_inv - q*(l_inv*l_inv*l_inv*dot(q, adj_ret));
-    }
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_inverse(const quat_t<Type>& q, quat_t<Type>& adj_q, const quat_t<Type>& adj_ret)
-{
-    adj_q.x -= adj_ret.x;
-    adj_q.y -= adj_ret.y;
-    adj_q.z -= adj_ret.z;
-    adj_q.w += adj_ret.w;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_add(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const quat_t<Type>& adj_ret)
-{
-    adj_a += adj_ret;
-    adj_b += adj_ret;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_sub(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const quat_t<Type>& adj_ret)
-{
-    adj_a += adj_ret;
-    adj_b -= adj_ret;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_mul(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const quat_t<Type>& adj_ret)
-{
-    // shorthand
-    const quat_t<Type>& r = adj_ret;
-
-    adj_a += quat_t<Type>(b.w*r.x - b.x*r.w + b.y*r.z - b.z*r.y,
-                  b.w*r.y - b.y*r.w - b.x*r.z + b.z*r.x,
-                  b.w*r.z + b.x*r.y - b.y*r.x - b.z*r.w,
-                  b.w*r.w + b.x*r.x + b.y*r.y + b.z*r.z);
-
-    adj_b += quat_t<Type>(a.w*r.x - a.x*r.w - a.y*r.z + a.z*r.y,
-                  a.w*r.y - a.y*r.w + a.x*r.z - a.z*r.x,
-                  a.w*r.z - a.x*r.y + a.y*r.x - a.z*r.w,
-                  a.w*r.w + a.x*r.x + a.y*r.y + a.z*r.z);
-
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_mul(const quat_t<Type>& a, Type s, quat_t<Type>& adj_a, Type& adj_s, const quat_t<Type>& adj_ret)
-{
-    adj_a += adj_ret*s;
-    adj_s += dot(a, adj_ret);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_mul(Type s, const quat_t<Type>& a, Type& adj_s, quat_t<Type>& adj_a, const quat_t<Type>& adj_ret)
-{
-    adj_mul(a, s, adj_a, adj_s, adj_ret);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_div(quat_t<Type> a, Type s, quat_t<Type>& adj_a, Type& adj_s, const quat_t<Type>& adj_ret)
-{
-    adj_s -= dot(a, adj_ret)/ (s * s); // - a / s^2
-    adj_a += adj_ret / s;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_div(Type s, quat_t<Type> a, Type& adj_s, quat_t<Type>& adj_a, const quat_t<Type>& adj_ret)
-{
-    adj_s -= dot(a, adj_ret)/ (s * s); // - a / s^2
-    adj_a += s / adj_ret;
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_rotate(const quat_t<Type>& q, const vec_t<3,Type>& p, quat_t<Type>& adj_q, vec_t<3,Type>& adj_p, const vec_t<3,Type>& adj_ret)
-{
-
-    {
-        Type t2 = p[2]*q.z*Type(2);
-        Type t3 = p[1]*q.w*Type(2);
-        Type t4 = p[0]*q.w*Type(2);
-        Type t5 = p[0]*q.x*Type(2);
-        Type t6 = p[1]*q.y*Type(2);
-        Type t7 = p[2]*q.y*Type(2);
-        Type t8 = p[0]*q.z*Type(2);
-        Type t9 = p[0]*q.y*Type(2);
-        Type t10 = p[1]*q.x*Type(2);
-        adj_q.x += adj_ret[2]*(t3+t8)+adj_ret[0]*(t2+t6+p[0]*q.x*Type(4))+adj_ret[1]*(t9-p[2]*q.w*Type(2));
-        adj_q.y += adj_ret[1]*(t2+t5+p[1]*q.y*Type(4))+adj_ret[0]*(t10+p[2]*q.w*Type(2))-adj_ret[2]*(t4-p[1]*q.z*Type(2));
-        adj_q.z += adj_ret[1]*(t4+t7)+adj_ret[2]*(t5+t6+p[2]*q.z*Type(4))-adj_ret[0]*(t3-p[2]*q.x*Type(2));
-        adj_q.w += adj_ret[0]*(t7+p[0]*q.w*Type(4)-p[1]*q.z*Type(2))+adj_ret[1]*(t8+p[1]*q.w*Type(4)-p[2]*q.x*Type(2))+adj_ret[2]*(-t9+t10+p[2]*q.w*Type(4));
-    }
-
-    {
-        Type t2 = q.w*q.w;
-        Type t3 = t2*Type(2);
-        Type t4 = q.w*q.z*Type(2);
-        Type t5 = q.x*q.y*Type(2);
-        Type t6 = q.w*q.y*Type(2);
-        Type t7 = q.w*q.x*Type(2);
-        Type t8 = q.y*q.z*Type(2);
-        adj_p[0] += adj_ret[1]*(t4+t5)+adj_ret[0]*(t3+(q.x*q.x)*Type(2)-Type(1))-adj_ret[2]*(t6-q.x*q.z*Type(2));
-        adj_p[1] += adj_ret[2]*(t7+t8)-adj_ret[0]*(t4-t5)+adj_ret[1]*(t3+(q.y*q.y)*Type(2)-Type(1));
-        adj_p[2] += -adj_ret[1]*(t7-t8)+adj_ret[2]*(t3+(q.z*q.z)*Type(2)-Type(1))+adj_ret[0]*(t6+q.x*q.z*Type(2));
-    }
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_rotate_inv(const quat_t<Type>& q, const vec_t<3,Type>& p, quat_t<Type>& adj_q, vec_t<3,Type>& adj_p, const vec_t<3,Type>& adj_ret)
-{
-    const vec_t<3,Type>& r = adj_ret;
-
-    {
-        Type t2 = p[2]*q.w*Type(2);
-        Type t3 = p[2]*q.z*Type(2);
-        Type t4 = p[1]*q.w*Type(2);
-        Type t5 = p[0]*q.w*Type(2);
-        Type t6 = p[0]*q.x*Type(2);
-        Type t7 = p[1]*q.y*Type(2);
-        Type t8 = p[1]*q.z*Type(2);
-        Type t9 = p[2]*q.x*Type(2);
-        Type t10 = p[0]*q.y*Type(2);
-        adj_q.x += r[1]*(t2+t10)+r[0]*(t3+t7+p[0]*q.x*Type(4))-r[2]*(t4-p[0]*q.z*Type(2));
-        adj_q.y += r[2]*(t5+t8)+r[1]*(t3+t6+p[1]*q.y*Type(4))-r[0]*(t2-p[1]*q.x*Type(2));
-        adj_q.z += r[0]*(t4+t9)+r[2]*(t6+t7+p[2]*q.z*Type(4))-r[1]*(t5-p[2]*q.y*Type(2));
-        adj_q.w += r[0]*(t8+p[0]*q.w*Type(4)-p[2]*q.y*Type(2))+r[1]*(t9+p[1]*q.w*Type(4)-p[0]*q.z*Type(2))+r[2]*(t10-p[1]*q.x*Type(2)+p[2]*q.w*Type(4));
-    }
-
-    {
-        Type t2 = q.w*q.w;
-        Type t3 = t2*Type(2);
-        Type t4 = q.w*q.z*Type(2);
-        Type t5 = q.w*q.y*Type(2);
-        Type t6 = q.x*q.z*Type(2);
-        Type t7 = q.w*q.x*Type(2);
-        adj_p[0] += r[2]*(t5+t6)+r[0]*(t3+(q.x*q.x)*Type(2)-Type(1))-r[1]*(t4-q.x*q.y*Type(2));
-        adj_p[1] += r[1]*(t3+(q.y*q.y)*Type(2)-Type(1))+r[0]*(t4+q.x*q.y*Type(2))-r[2]*(t7-q.y*q.z*Type(2));
-        adj_p[2] += -r[0]*(t5-t6)+r[2]*(t3+(q.z*q.z)*Type(2)-Type(1))+r[1]*(t7+q.y*q.z*Type(2));
-    }
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_slerp(const quat_t<Type>& q0, const quat_t<Type>& q1, Type t, quat_t<Type>& ret, quat_t<Type>& adj_q0, quat_t<Type>& adj_q1, Type& adj_t, const quat_t<Type>& adj_ret)
-{
-    vec_t<3,Type> axis;
-    Type angle;
-    quat_t<Type> q0_inv = quat_inverse(q0);
-    quat_t<Type> q_inc = mul(q0_inv, q1);
-    quat_to_axis_angle(q_inc, axis, angle);
-    quat_t<Type> qt = quat_from_axis_angle(axis, angle * t);
-    angle = angle * 0.5;
-    
-    // adj_t
-    adj_t += dot(mul(ret, quat_t<Type>(angle*axis[0], angle*axis[1], angle*axis[2], Type(0))), adj_ret);
-
-    // adj_q0
-    quat_t<Type> q_inc_x_q0;
-    quat_t<Type> q_inc_y_q0;
-    quat_t<Type> q_inc_z_q0;
-    quat_t<Type> q_inc_w_q0;
-    
-    quat_t<Type> q_inc_x_q1;
-    quat_t<Type> q_inc_y_q1;
-    quat_t<Type> q_inc_z_q1;
-    quat_t<Type> q_inc_w_q1;
-
-    adj_mul(q0_inv, q1, q_inc_x_q0, q_inc_x_q1, quat_t<Type>(1.f, Type(0), Type(0), Type(0)));
-    adj_mul(q0_inv, q1, q_inc_y_q0, q_inc_y_q1, quat_t<Type>(Type(0), 1.f, Type(0), Type(0)));
-    adj_mul(q0_inv, q1, q_inc_z_q0, q_inc_z_q1, quat_t<Type>(Type(0), Type(0), 1.f, Type(0)));
-    adj_mul(q0_inv, q1, q_inc_w_q0, q_inc_w_q1, quat_t<Type>(Type(0), Type(0), Type(0), 1.f));
-
-    quat_t<Type> a_x_q_inc;
-    quat_t<Type> a_y_q_inc;
-    quat_t<Type> a_z_q_inc;
-    quat_t<Type> t_q_inc;
-
-    adj_quat_to_axis_angle(q_inc, axis, angle, a_x_q_inc, vec_t<3,Type>(1.f, Type(0), Type(0)), Type(0));
-    adj_quat_to_axis_angle(q_inc, axis, angle, a_y_q_inc, vec_t<3,Type>(Type(0), 1.f, Type(0)), Type(0));
-    adj_quat_to_axis_angle(q_inc, axis, angle, a_z_q_inc, vec_t<3,Type>(Type(0), Type(0), 1.f), Type(0));
-    adj_quat_to_axis_angle(q_inc, axis, angle, t_q_inc, vec_t<3,Type>(Type(0), Type(0), Type(0)), Type(1));
-    
-    Type cs = cos(angle*t);
-    Type sn = sin(angle*t);
-
-    quat_t<Type> q_inc_q0_x = quat_t<Type>(-q_inc_x_q0.x, -q_inc_y_q0.x, -q_inc_z_q0.x, -q_inc_w_q0.x);
-    quat_t<Type> q_inc_q0_y = quat_t<Type>(-q_inc_x_q0.y, -q_inc_y_q0.y, -q_inc_z_q0.y, -q_inc_w_q0.y);
-    quat_t<Type> q_inc_q0_z = quat_t<Type>(-q_inc_x_q0.z, -q_inc_y_q0.z, -q_inc_z_q0.z, -q_inc_w_q0.z);
-    quat_t<Type> q_inc_q0_w = quat_t<Type>(q_inc_x_q0.w, q_inc_y_q0.w, q_inc_z_q0.w, q_inc_w_q0.w);
-
-    Type a_x_q0_x = dot(a_x_q_inc, q_inc_q0_x);
-    Type a_x_q0_y = dot(a_x_q_inc, q_inc_q0_y);
-    Type a_x_q0_z = dot(a_x_q_inc, q_inc_q0_z);
-    Type a_x_q0_w = dot(a_x_q_inc, q_inc_q0_w);
-    Type a_y_q0_x = dot(a_y_q_inc, q_inc_q0_x);
-    Type a_y_q0_y = dot(a_y_q_inc, q_inc_q0_y);
-    Type a_y_q0_z = dot(a_y_q_inc, q_inc_q0_z);
-    Type a_y_q0_w = dot(a_y_q_inc, q_inc_q0_w);
-    Type a_z_q0_x = dot(a_z_q_inc, q_inc_q0_x);
-    Type a_z_q0_y = dot(a_z_q_inc, q_inc_q0_y);
-    Type a_z_q0_z = dot(a_z_q_inc, q_inc_q0_z);
-    Type a_z_q0_w = dot(a_z_q_inc, q_inc_q0_w);
-    Type t_q0_x = dot(t_q_inc, q_inc_q0_x);
-    Type t_q0_y = dot(t_q_inc, q_inc_q0_y);
-    Type t_q0_z = dot(t_q_inc, q_inc_q0_z);
-    Type t_q0_w = dot(t_q_inc, q_inc_q0_w);
-
-    quat_t<Type> q_s_q0_x = mul(quat_t<Type>(1.f, Type(0), Type(0), Type(0)), qt) + mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q0_x * cs + a_x_q0_x * sn,
-        0.5 * t * axis[1] * t_q0_x * cs + a_y_q0_x * sn,
-        0.5 * t * axis[2] * t_q0_x * cs + a_z_q0_x * sn,
-        -0.5 * t * t_q0_x * sn));
-
-    quat_t<Type> q_s_q0_y = mul(quat_t<Type>(Type(0), 1.f, Type(0), Type(0)), qt) + mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q0_y * cs + a_x_q0_y * sn,
-        0.5 * t * axis[1] * t_q0_y * cs + a_y_q0_y * sn,
-        0.5 * t * axis[2] * t_q0_y * cs + a_z_q0_y * sn,
-        -0.5 * t * t_q0_y * sn));
-
-    quat_t<Type> q_s_q0_z = mul(quat_t<Type>(Type(0), Type(0), 1.f, Type(0)), qt) + mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q0_z * cs + a_x_q0_z * sn,
-        0.5 * t * axis[1] * t_q0_z * cs + a_y_q0_z * sn,
-        0.5 * t * axis[2] * t_q0_z * cs + a_z_q0_z * sn,
-        -0.5 * t * t_q0_z * sn));
-
-    quat_t<Type> q_s_q0_w = mul(quat_t<Type>(Type(0), Type(0), Type(0), 1.f), qt) + mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q0_w * cs + a_x_q0_w * sn,
-        0.5 * t * axis[1] * t_q0_w * cs + a_y_q0_w * sn,
-        0.5 * t * axis[2] * t_q0_w * cs + a_z_q0_w * sn,
-        -0.5 * t * t_q0_w * sn));
-
-    adj_q0.x += dot(q_s_q0_x, adj_ret);
-    adj_q0.y += dot(q_s_q0_y, adj_ret);
-    adj_q0.z += dot(q_s_q0_z, adj_ret);
-    adj_q0.w += dot(q_s_q0_w, adj_ret);
-
-    // adj_q1
-    quat_t<Type> q_inc_q1_x = quat_t<Type>(q_inc_x_q1.x, q_inc_y_q1.x, q_inc_z_q1.x, q_inc_w_q1.x);
-    quat_t<Type> q_inc_q1_y = quat_t<Type>(q_inc_x_q1.y, q_inc_y_q1.y, q_inc_z_q1.y, q_inc_w_q1.y);
-    quat_t<Type> q_inc_q1_z = quat_t<Type>(q_inc_x_q1.z, q_inc_y_q1.z, q_inc_z_q1.z, q_inc_w_q1.z);
-    quat_t<Type> q_inc_q1_w = quat_t<Type>(q_inc_x_q1.w, q_inc_y_q1.w, q_inc_z_q1.w, q_inc_w_q1.w);
-
-    Type a_x_q1_x = dot(a_x_q_inc, q_inc_q1_x);
-    Type a_x_q1_y = dot(a_x_q_inc, q_inc_q1_y);
-    Type a_x_q1_z = dot(a_x_q_inc, q_inc_q1_z);
-    Type a_x_q1_w = dot(a_x_q_inc, q_inc_q1_w);
-    Type a_y_q1_x = dot(a_y_q_inc, q_inc_q1_x);
-    Type a_y_q1_y = dot(a_y_q_inc, q_inc_q1_y);
-    Type a_y_q1_z = dot(a_y_q_inc, q_inc_q1_z);
-    Type a_y_q1_w = dot(a_y_q_inc, q_inc_q1_w);
-    Type a_z_q1_x = dot(a_z_q_inc, q_inc_q1_x);
-    Type a_z_q1_y = dot(a_z_q_inc, q_inc_q1_y);
-    Type a_z_q1_z = dot(a_z_q_inc, q_inc_q1_z);
-    Type a_z_q1_w = dot(a_z_q_inc, q_inc_q1_w);
-    Type t_q1_x = dot(t_q_inc, q_inc_q1_x);
-    Type t_q1_y = dot(t_q_inc, q_inc_q1_y);
-    Type t_q1_z = dot(t_q_inc, q_inc_q1_z);
-    Type t_q1_w = dot(t_q_inc, q_inc_q1_w);
-
-    quat_t<Type> q_s_q1_x = mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q1_x * cs + a_x_q1_x * sn,
-        0.5 * t * axis[1] * t_q1_x * cs + a_y_q1_x * sn,
-        0.5 * t * axis[2] * t_q1_x * cs + a_z_q1_x * sn,
-        -0.5 * t * t_q1_x * sn));
-
-    quat_t<Type> q_s_q1_y = mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q1_y * cs + a_x_q1_y * sn,
-        0.5 * t * axis[1] * t_q1_y * cs + a_y_q1_y * sn,
-        0.5 * t * axis[2] * t_q1_y * cs + a_z_q1_y * sn,
-        -0.5 * t * t_q1_y * sn));
-
-    quat_t<Type> q_s_q1_z = mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q1_z * cs + a_x_q1_z * sn,
-        0.5 * t * axis[1] * t_q1_z * cs + a_y_q1_z * sn,
-        0.5 * t * axis[2] * t_q1_z * cs + a_z_q1_z * sn,
-        -0.5 * t * t_q1_z * sn));
-
-    quat_t<Type> q_s_q1_w = mul(q0, quat_t<Type>(
-        0.5 * t * axis[0] * t_q1_w * cs + a_x_q1_w * sn,
-        0.5 * t * axis[1] * t_q1_w * cs + a_y_q1_w * sn,
-        0.5 * t * axis[2] * t_q1_w * cs + a_z_q1_w * sn,
-        -0.5 * t * t_q1_w * sn));
-
-    adj_q1.x += dot(q_s_q1_x, adj_ret);
-    adj_q1.y += dot(q_s_q1_y, adj_ret);
-    adj_q1.z += dot(q_s_q1_z, adj_ret);
-    adj_q1.w += dot(q_s_q1_w, adj_ret);    
-
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_to_matrix(const quat_t<Type>& q, quat_t<Type>& adj_q, mat_t<3,3,Type>& adj_ret)
-{
-    // we don't care about adjoint w.r.t. constant identity matrix
-    vec_t<3,Type> t;
-
-    adj_quat_rotate(q, vec_t<3,Type>(1.0, 0.0, 0.0), adj_q, t, adj_ret.get_col(0));
-    adj_quat_rotate(q, vec_t<3,Type>(0.0, 1.0, 0.0), adj_q, t, adj_ret.get_col(1));
-    adj_quat_rotate(q, vec_t<3,Type>(0.0, 0.0, 1.0), adj_q, t, adj_ret.get_col(2));
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_quat_from_matrix(const mat_t<3,3,Type>& m, mat_t<3,3,Type>& adj_m, const quat_t<Type>& adj_ret)
-{
-    const Type tr = m.data[0][0] + m.data[1][1] + m.data[2][2];
-    Type x, y, z, w, h = Type(0);
-
-    Type dx_dm00 = Type(0), dx_dm01 = Type(0), dx_dm02 = Type(0);
-    Type dx_dm10 = Type(0), dx_dm11 = Type(0), dx_dm12 = Type(0);
-    Type dx_dm20 = Type(0), dx_dm21 = Type(0), dx_dm22 = Type(0);
-    Type dy_dm00 = Type(0), dy_dm01 = Type(0), dy_dm02 = Type(0);
-    Type dy_dm10 = Type(0), dy_dm11 = Type(0), dy_dm12 = Type(0);
-    Type dy_dm20 = Type(0), dy_dm21 = Type(0), dy_dm22 = Type(0);
-    Type dz_dm00 = Type(0), dz_dm01 = Type(0), dz_dm02 = Type(0);
-    Type dz_dm10 = Type(0), dz_dm11 = Type(0), dz_dm12 = Type(0);
-    Type dz_dm20 = Type(0), dz_dm21 = Type(0), dz_dm22 = Type(0);
-    Type dw_dm00 = Type(0), dw_dm01 = Type(0), dw_dm02 = Type(0);
-    Type dw_dm10 = Type(0), dw_dm11 = Type(0), dw_dm12 = Type(0);
-    Type dw_dm20 = Type(0), dw_dm21 = Type(0), dw_dm22 = Type(0);
-
-    if (tr >= Type(0)) {
-        h = sqrt(tr + Type(1));
-        w = Type(0.5) * h;
-        h = Type(0.5) / h;
-
-        x = (m.data[2][1] - m.data[1][2]) * h;
-        y = (m.data[0][2] - m.data[2][0]) * h;
-        z = (m.data[1][0] - m.data[0][1]) * h;
-
-        dw_dm00 = Type(0.5) * h;
-        dw_dm11 = Type(0.5) * h;
-        dw_dm22 = Type(0.5) * h;
-        dx_dm21 = h;
-        dx_dm12 = -h;
-        dx_dm00 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
-        dx_dm11 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
-        dx_dm22 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
-        dy_dm02 = h;
-        dy_dm20 = -h;
-        dy_dm00 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
-        dy_dm11 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
-        dy_dm22 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
-        dz_dm10 = h;
-        dz_dm01 = -h;
-        dz_dm00 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
-        dz_dm11 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
-        dz_dm22 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
-    } else {
-        size_t max_diag = 0;
-        if (m.data[1][1] > m.data[0][0]) {
-            max_diag = 1;
-        }
-        if (m.data[2][2] > m.data[max_diag][max_diag]) {
-            max_diag = 2;
-        }
-        
-        if (max_diag == 0) {
-            h = sqrt((m.data[0][0] - (m.data[1][1] + m.data[2][2])) + Type(1));
-            x = Type(0.5) * h;
-            h = Type(0.5) / h;
-
-            y = (m.data[0][1] + m.data[1][0]) * h;
-            z = (m.data[2][0] + m.data[0][2]) * h;
-            w = (m.data[2][1] - m.data[1][2]) * h;
-
-            dx_dm00 = Type(0.5) * h;
-            dx_dm11 = -Type(0.5) * h;
-            dx_dm22 = -Type(0.5) * h;
-            dy_dm01 = h;
-            dy_dm10 = h;
-            dy_dm00 = -Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
-            dy_dm11 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
-            dy_dm22 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
-            dz_dm20 = h;
-            dz_dm02 = h;
-            dz_dm00 = -Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
-            dz_dm11 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
-            dz_dm22 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
-            dw_dm21 = h;
-            dw_dm12 = -h;
-            dw_dm00 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
-            dw_dm11 = Type(2) * h*h*h * (m.data[2][1] - m.data[1][2]);
-            dw_dm22 = Type(2) * h*h*h * (m.data[2][1] - m.data[1][2]);
-        } else if (max_diag == 1) {
-            h = sqrt((m.data[1][1] - (m.data[2][2] + m.data[0][0])) + Type(1));
-            y = Type(0.5) * h;
-            h = Type(0.5) / h;
-
-            z = (m.data[1][2] + m.data[2][1]) * h;
-            x = (m.data[0][1] + m.data[1][0]) * h;
-            w = (m.data[0][2] - m.data[2][0]) * h;
-
-            dy_dm00 = -Type(0.5) * h;
-            dy_dm11 = Type(0.5) * h;
-            dy_dm22 = -Type(0.5) * h;
-            dz_dm12 = h;
-            dz_dm21 = h;
-            dz_dm00 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
-            dz_dm11 = -Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
-            dz_dm22 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
-            dx_dm01 = h;
-            dx_dm10 = h;
-            dx_dm00 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
-            dx_dm11 = -Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
-            dx_dm22 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
-            dw_dm02 = h;
-            dw_dm20 = -h;
-            dw_dm00 = Type(2) * h*h*h * (m.data[0][2] - m.data[2][0]);
-            dw_dm11 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
-            dw_dm22 = Type(2) * h*h*h * (m.data[0][2] - m.data[2][0]);
-        } if (max_diag == 2) {
-            h = sqrt((m.data[2][2] - (m.data[0][0] + m.data[1][1])) + Type(1));
-            z = Type(0.5) * h;
-            h = Type(0.5) / h;
-
-            x = (m.data[2][0] + m.data[0][2]) * h;
-            y = (m.data[1][2] + m.data[2][1]) * h;
-            w = (m.data[1][0] - m.data[0][1]) * h;
-
-            dz_dm00 = -Type(0.5) * h;
-            dz_dm11 = -Type(0.5) * h;
-            dz_dm22 = Type(0.5) * h;
-            dx_dm20 = h;
-            dx_dm02 = h;
-            dx_dm00 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
-            dx_dm11 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
-            dx_dm22 = -Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
-            dy_dm12 = h;
-            dy_dm21 = h;
-            dy_dm00 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
-            dy_dm11 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
-            dy_dm22 = -Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
-            dw_dm10 = h;
-            dw_dm01 = -h;
-            dw_dm00 = Type(2) * h*h*h * (m.data[1][0] - m.data[0][1]);
-            dw_dm11 = Type(2) * h*h*h * (m.data[1][0] - m.data[0][1]);
-            dw_dm22 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
-        }
-    }
-
-    quat_t<Type> dq_dm00 = quat_t<Type>(dx_dm00, dy_dm00, dz_dm00, dw_dm00);
-    quat_t<Type> dq_dm01 = quat_t<Type>(dx_dm01, dy_dm01, dz_dm01, dw_dm01);
-    quat_t<Type> dq_dm02 = quat_t<Type>(dx_dm02, dy_dm02, dz_dm02, dw_dm02);
-    quat_t<Type> dq_dm10 = quat_t<Type>(dx_dm10, dy_dm10, dz_dm10, dw_dm10);
-    quat_t<Type> dq_dm11 = quat_t<Type>(dx_dm11, dy_dm11, dz_dm11, dw_dm11);
-    quat_t<Type> dq_dm12 = quat_t<Type>(dx_dm12, dy_dm12, dz_dm12, dw_dm12);
-    quat_t<Type> dq_dm20 = quat_t<Type>(dx_dm20, dy_dm20, dz_dm20, dw_dm20);
-    quat_t<Type> dq_dm21 = quat_t<Type>(dx_dm21, dy_dm21, dz_dm21, dw_dm21);
-    quat_t<Type> dq_dm22 = quat_t<Type>(dx_dm22, dy_dm22, dz_dm22, dw_dm22);
-
-    quat_t<Type> adj_q;
-    adj_normalize(quat_t<Type>(x, y, z, w), adj_q, adj_ret);
-
-    adj_m.data[0][0] += dot(dq_dm00, adj_q);
-    adj_m.data[0][1] += dot(dq_dm01, adj_q);
-    adj_m.data[0][2] += dot(dq_dm02, adj_q);
-    adj_m.data[1][0] += dot(dq_dm10, adj_q);
-    adj_m.data[1][1] += dot(dq_dm11, adj_q);
-    adj_m.data[1][2] += dot(dq_dm12, adj_q);
-    adj_m.data[2][0] += dot(dq_dm20, adj_q);
-    adj_m.data[2][1] += dot(dq_dm21, adj_q);
-    adj_m.data[2][2] += dot(dq_dm22, adj_q);
-}
-
-template<typename Type>
-inline CUDA_CALLABLE void adj_mat_t(const vec_t<3,Type>& pos, const quat_t<Type>& rot, const vec_t<3,Type>& scale,
-                                          vec_t<3,Type>& adj_pos, quat_t<Type>& adj_rot, vec_t<3,Type>& adj_scale, const mat_t<4,4,Type>& adj_ret)
-{
-    mat_t<3,3,Type> R = quat_to_matrix(rot);
-    mat_t<3,3,Type> adj_R(0);
-
-    adj_pos[0] += adj_ret.data[0][3];
-    adj_pos[1] += adj_ret.data[1][3];
-    adj_pos[2] += adj_ret.data[2][3];
-
-    adj_mul(R.data[0][0], scale[0], adj_R.data[0][0], adj_scale[0], adj_ret.data[0][0]);
-    adj_mul(R.data[1][0], scale[0], adj_R.data[1][0], adj_scale[0], adj_ret.data[1][0]);
-    adj_mul(R.data[2][0], scale[0], adj_R.data[2][0], adj_scale[0], adj_ret.data[2][0]);
-
-    adj_mul(R.data[0][1], scale[1], adj_R.data[0][1], adj_scale[1], adj_ret.data[0][1]);
-    adj_mul(R.data[1][1], scale[1], adj_R.data[1][1], adj_scale[1], adj_ret.data[1][1]);
-    adj_mul(R.data[2][1], scale[1], adj_R.data[2][1], adj_scale[1], adj_ret.data[2][1]);
-
-    adj_mul(R.data[0][2], scale[2], adj_R.data[0][2], adj_scale[2], adj_ret.data[0][2]);
-    adj_mul(R.data[1][2], scale[2], adj_R.data[1][2], adj_scale[2], adj_ret.data[1][2]);
-    adj_mul(R.data[2][2], scale[2], adj_R.data[2][2], adj_scale[2], adj_ret.data[2][2]);
-
-    adj_quat_to_matrix(rot, adj_rot, adj_R);
-}
-
-template<unsigned Rows, unsigned Cols, typename Type>                
-inline CUDA_CALLABLE mat_t<Rows,Cols,Type>::mat_t(const vec_t<3,Type>& pos, const quat_t<Type>& rot, const vec_t<3,Type>& scale)
-{
-    mat_t<3,3,Type> R = quat_to_matrix(rot);
-
-    data[0][0] = R.data[0][0]*scale[0];
-    data[1][0] = R.data[1][0]*scale[0];
-    data[2][0] = R.data[2][0]*scale[0];
-    data[3][0] = Type(0);
-
-    data[0][1] = R.data[0][1]*scale[1];
-    data[1][1] = R.data[1][1]*scale[1];
-    data[2][1] = R.data[2][1]*scale[1];
-    data[3][1] = Type(0);
-
-    data[0][2] = R.data[0][2]*scale[2];
-    data[1][2] = R.data[1][2]*scale[2];
-    data[2][2] = R.data[2][2]*scale[2];
-    data[3][2] = Type(0);
-
-    data[0][3] = pos[0];
-    data[1][3] = pos[1];
-    data[2][3] = pos[2];
-    data[3][3] = Type(1);
-}
-
-template<typename Type=float32>
-inline CUDA_CALLABLE quat_t<Type> quat_identity()
-{
-    return quat_t<Type>(Type(0), Type(0), Type(0), Type(1));
-}
-
-
-
+/** 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 "mat.h"
+
+namespace wp
+{
+
+template<typename Type>
+struct quat_t
+{
+    // zero constructor for adjoint variable initialization
+    inline CUDA_CALLABLE quat_t(Type x=Type(0), Type y=Type(0), Type z=Type(0), Type w=Type(0)) : x(x), y(y), z(z), w(w) {}    
+    explicit inline CUDA_CALLABLE quat_t(const vec_t<3,Type>& v, Type w=Type(0)) : x(v[0]), y(v[1]), z(v[2]), w(w) {}
+    
+    template<typename OtherType>
+    explicit inline CUDA_CALLABLE quat_t(const quat_t<OtherType>& other)
+    {
+        x = static_cast<Type>(other.x);
+        y = static_cast<Type>(other.y);
+        z = static_cast<Type>(other.z);
+        w = static_cast<Type>(other.w);
+    }
+
+    // imaginary part
+    Type x;
+    Type y;
+    Type z;
+    
+    // real part
+    Type w;
+};
+
+using quat = quat_t<float>;
+using quath = quat_t<half>;
+using quatf = quat_t<float>;
+using quatd = quat_t<double>;
+
+
+template<typename Type>
+inline CUDA_CALLABLE bool operator==(const quat_t<Type>& a, const quat_t<Type>& b)
+{
+    return a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w;
+}
+
+template<typename Type>
+inline bool CUDA_CALLABLE isfinite(const quat_t<Type>& q)
+{
+    return isfinite(q.x) && isfinite(q.y) && isfinite(q.z) && isfinite(q.w);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> atomic_add(quat_t<Type> * addr, quat_t<Type> value) 
+{
+    Type x = atomic_add(&(addr -> x), value.x);
+    Type y = atomic_add(&(addr -> y), value.y);
+    Type z = atomic_add(&(addr -> z), value.z);
+    Type w = atomic_add(&(addr -> w), value.w);
+
+    return quat_t<Type>(x, y, z, w);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_t(Type x, Type y, Type z, Type w, Type& adj_x, Type& adj_y, Type& adj_z, Type& adj_w, quat_t<Type> adj_ret)
+{
+    adj_x += adj_ret.x;
+    adj_y += adj_ret.y;
+    adj_z += adj_ret.z;
+    adj_w += adj_ret.w;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_t(const vec_t<3,Type>& v, Type w, vec_t<3,Type>& adj_v, Type& adj_w, quat_t<Type> adj_ret)
+{
+    adj_v[0] += adj_ret.x;
+    adj_v[1] += adj_ret.y;
+    adj_v[2] += adj_ret.z;
+    adj_w    += adj_ret.w;
+}
+
+// casting constructor adjoint
+template<typename Type, typename OtherType>
+inline CUDA_CALLABLE void adj_quat_t(const quat_t<OtherType>& other, quat_t<OtherType>& adj_other, const quat_t<Type>& adj_ret)
+{
+    adj_other.x += static_cast<OtherType>(adj_ret.x);
+    adj_other.y += static_cast<OtherType>(adj_ret.y);
+    adj_other.z += static_cast<OtherType>(adj_ret.z);
+    adj_other.w += static_cast<OtherType>(adj_ret.w);
+}
+
+// forward methods
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> quat_from_axis_angle(const vec_t<3,Type>& axis, Type angle)
+{
+    Type half = angle*Type(Type(0.5));
+    Type w = cos(half);
+
+    Type sin_theta_over_two = sin(half);
+    vec_t<3,Type> v = axis*sin_theta_over_two;
+
+    return quat_t<Type>(v[0], v[1], v[2], w);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void quat_to_axis_angle(const quat_t<Type>& q, vec_t<3,Type>& axis, Type& angle)
+{
+    vec_t<3,Type> v = vec_t<3,Type>(q.x, q.y, q.z);
+    axis = q.w < Type(0) ? -normalize(v) : normalize(v);
+    angle = Type(2) * atan2(length(v), abs(q.w));
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> quat_rpy(Type roll, Type pitch, Type yaw)
+{
+    Type cy = cos(yaw * Type(0.5));
+    Type sy = sin(yaw * Type(0.5));
+    Type cr = cos(roll * Type(0.5));
+    Type sr = sin(roll * Type(0.5));
+    Type cp = cos(pitch * Type(0.5));
+    Type sp = sin(pitch * Type(0.5));
+
+    Type w = (cy * cr * cp + sy * sr * sp);
+    Type x = (cy * sr * cp - sy * cr * sp);
+    Type y = (cy * cr * sp + sy * sr * cp);
+    Type z = (sy * cr * cp - cy * sr * sp);
+
+    return quat_t<Type>(x, y, z, w);
+}
+
+
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> quat_inverse(const quat_t<Type>& q)
+{
+    return quat_t<Type>(-q.x, -q.y, -q.z, q.w);
+}
+
+
+template<typename Type>
+inline CUDA_CALLABLE Type dot(const quat_t<Type>& a, const quat_t<Type>& b)
+{
+    return a.x*b.x + a.y*b.y + a.z*b.z + a.w*b.w;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE Type tensordot(const quat_t<Type>& a, const quat_t<Type>& b)
+{
+    // corresponds to `np.tensordot()` with all axes being contracted
+    return dot(a, b);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE Type length(const quat_t<Type>& q)
+{
+    return sqrt(dot(q, q));
+}
+
+template<typename Type>
+inline CUDA_CALLABLE Type length_sq(const quat_t<Type>& q)
+{
+    return dot(q, q);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> normalize(const quat_t<Type>& q)
+{
+    Type l = length(q);
+    if (l > Type(kEps))
+    {
+        Type inv_l = Type(1)/l;
+
+        return quat_t<Type>(q.x*inv_l, q.y*inv_l, q.z*inv_l, q.w*inv_l);
+    }
+    else
+    {
+        return quat_t<Type>(Type(0), Type(0), Type(0), Type(1));
+    }
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> add(const quat_t<Type>& a, const quat_t<Type>& b)
+{
+    return quat_t<Type>(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> sub(const quat_t<Type>& a, const quat_t<Type>& b)
+{
+    return quat_t<Type>(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);}
+
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> mul(const quat_t<Type>& a, const quat_t<Type>& b)
+{
+    return quat_t<Type>(a.w*b.x + b.w*a.x + a.y*b.z - b.y*a.z,
+                a.w*b.y + b.w*a.y + a.z*b.x - b.z*a.x,
+                a.w*b.z + b.w*a.z + a.x*b.y - b.x*a.y,
+                a.w*b.w - a.x*b.x - a.y*b.y - a.z*b.z);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> mul(const quat_t<Type>& a, Type s)
+{
+    return quat_t<Type>(a.x*s, a.y*s, a.z*s, a.w*s);    
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> mul(Type s, const quat_t<Type>& a)
+{
+    return mul(a, s);
+}
+
+// division
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> div(quat_t<Type> q, Type s)
+{
+    return quat_t<Type>(q.x/s, q.y/s, q.z/s, q.w/s);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> div(Type s, quat_t<Type> q)
+{
+    return quat_t<Type>(s/q.x, s/q.y, s/q.z, s/q.w);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> operator / (quat_t<Type> a, Type s)
+{
+    return div(a,s);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> operator / (Type s, quat_t<Type> a)
+{
+    return div(s,a);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> operator*(Type s, const quat_t<Type>& a)
+{
+    return mul(a, s);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> operator*(const quat_t<Type>& a, Type s)
+{
+    return mul(a, s);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE vec_t<3,Type> quat_rotate(const quat_t<Type>& q, const vec_t<3,Type>& x)
+{
+    Type c = (Type(2)*q.w*q.w-Type(1));
+    Type d = Type(2)*(q.x*x.c[0] + q.y*x.c[1] + q.z*x.c[2]);
+    return vec_t<3,Type>(
+        x.c[0]*c + q.x*d + (q.y * x[2] - q.z * x[1])*q.w*Type(2),
+        x.c[1]*c + q.y*d + (q.z * x[0] - q.x * x[2])*q.w*Type(2),
+        x.c[2]*c + q.z*d + (q.x * x[1] - q.y * x[0])*q.w*Type(2)
+    );
+}
+
+template<typename Type>
+inline CUDA_CALLABLE vec_t<3,Type> quat_rotate_inv(const quat_t<Type>& q, const vec_t<3,Type>& x)
+{
+    Type c = (Type(2)*q.w*q.w-Type(1));
+    Type d = Type(2)*(q.x*x.c[0] + q.y*x.c[1] + q.z*x.c[2]);
+    return vec_t<3,Type>(
+        x.c[0]*c + q.x*d - (q.y * x[2] - q.z * x[1])*q.w*Type(2),
+        x.c[1]*c + q.y*d - (q.z * x[0] - q.x * x[2])*q.w*Type(2),
+        x.c[2]*c + q.z*d - (q.x * x[1] - q.y * x[0])*q.w*Type(2)
+    );
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> quat_slerp(const quat_t<Type>& q0, const quat_t<Type>& q1, Type t)
+{
+    vec_t<3,Type> axis;
+    Type angle;
+    quat_to_axis_angle(mul(quat_inverse(q0), q1), axis, angle);
+    return mul(q0, quat_from_axis_angle(axis, t * angle));
+}
+
+template<typename Type>
+inline CUDA_CALLABLE mat_t<3,3,Type> quat_to_matrix(const quat_t<Type>& q)
+{
+    vec_t<3,Type> c1 = quat_rotate(q, vec_t<3,Type>(1.0, 0.0, 0.0));
+    vec_t<3,Type> c2 = quat_rotate(q, vec_t<3,Type>(0.0, 1.0, 0.0));
+    vec_t<3,Type> c3 = quat_rotate(q, vec_t<3,Type>(0.0, 0.0, 1.0));
+
+    return mat_t<3,3,Type>(c1, c2, c3);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE quat_t<Type> quat_from_matrix(const mat_t<3,3,Type>& m)
+{
+    const Type tr = m.data[0][0] + m.data[1][1] + m.data[2][2];
+    Type x, y, z, w, h = Type(0);
+
+    if (tr >= Type(0)) {
+        h = sqrt(tr + Type(1));
+        w = Type(0.5) * h;
+        h = Type(0.5) / h;
+
+        x = (m.data[2][1] - m.data[1][2]) * h;
+        y = (m.data[0][2] - m.data[2][0]) * h;
+        z = (m.data[1][0] - m.data[0][1]) * h;
+    } else {
+        size_t max_diag = 0;
+        if (m.data[1][1] > m.data[0][0]) {
+            max_diag = 1;
+        }
+        if (m.data[2][2] > m.data[max_diag][max_diag]) {
+            max_diag = 2;
+        }
+
+        if (max_diag == 0) {
+            h = sqrt((m.data[0][0] - (m.data[1][1] + m.data[2][2])) + Type(1));
+            x = Type(0.5) * h;
+            h = Type(0.5) / h;
+
+            y = (m.data[0][1] + m.data[1][0]) * h;
+            z = (m.data[2][0] + m.data[0][2]) * h;
+            w = (m.data[2][1] - m.data[1][2]) * h;
+        } else if (max_diag == 1) {
+            h = sqrt((m.data[1][1] - (m.data[2][2] + m.data[0][0])) + Type(1));
+            y = Type(0.5) * h;
+            h = Type(0.5) / h;
+
+            z = (m.data[1][2] + m.data[2][1]) * h;
+            x = (m.data[0][1] + m.data[1][0]) * h;
+            w = (m.data[0][2] - m.data[2][0]) * h;
+        } if (max_diag == 2) {
+            h = sqrt((m.data[2][2] - (m.data[0][0] + m.data[1][1])) + Type(1));
+            z = Type(0.5) * h;
+            h = Type(0.5) / h;
+
+            x = (m.data[2][0] + m.data[0][2]) * h;
+            y = (m.data[1][2] + m.data[2][1]) * h;
+            w = (m.data[1][0] - m.data[0][1]) * h;
+        }
+    }
+
+    return normalize(quat_t<Type>(x, y, z, w));
+}
+
+template<typename Type>
+inline CUDA_CALLABLE Type extract(const quat_t<Type>& a, int idx)
+{
+#if FP_CHECK
+    if (idx < 0 || idx > 3)
+    {
+        printf("quat_t index %d out of bounds at %s %d", idx, __FILE__, __LINE__);
+        assert(0);
+    }
+#endif
+
+    /*
+    * Because quat data is not stored in an array, we index the quaternion by checking all possible idx values.
+    * (&a.x)[idx] would be the preferred access strategy, but this results in undefined behavior in the clang compiler
+    * at optimization level 3.
+    */ 
+    if (idx == 0)       {return a.x;}
+    else if (idx == 1)  {return a.y;}
+    else if (idx == 2)  {return a.z;}
+    else                {return a.w;}
+}
+
+template<typename Type>
+CUDA_CALLABLE inline quat_t<Type> lerp(const quat_t<Type>& a, const quat_t<Type>& b, Type t)
+{
+    return a*(Type(1)-t) + b*t;
+}
+
+template<typename Type>
+CUDA_CALLABLE inline void adj_lerp(const quat_t<Type>& a, const quat_t<Type>& b, Type t, quat_t<Type>& adj_a, quat_t<Type>& adj_b, Type& adj_t, const quat_t<Type>& adj_ret)
+{
+    adj_a += adj_ret*(Type(1)-t);
+    adj_b += adj_ret*t;
+    adj_t += tensordot(b, adj_ret) - tensordot(a, adj_ret);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_extract(const quat_t<Type>& a, int idx, quat_t<Type>& adj_a, int & adj_idx, Type & adj_ret)
+{
+#if FP_CHECK
+    if (idx < 0 || idx > 3)
+    {
+        printf("quat_t index %d out of bounds at %s %d", idx, __FILE__, __LINE__);
+        assert(0);
+    }
+#endif
+
+    // See wp::extract(const quat_t<Type>& a, int idx) note
+    if (idx == 0)       {adj_a.x += adj_ret;}
+    else if (idx == 1)  {adj_a.y += adj_ret;}
+    else if (idx == 2)  {adj_a.z += adj_ret;}
+    else                {adj_a.w += adj_ret;}
+}
+
+
+// backward methods
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_from_axis_angle(const vec_t<3,Type>& axis, Type angle, vec_t<3,Type>& adj_axis, Type& adj_angle, const quat_t<Type>& adj_ret)
+{
+    vec_t<3,Type> v = vec_t<3,Type>(adj_ret.x, adj_ret.y, adj_ret.z);
+
+    Type s = sin(angle*Type(0.5));
+    Type c = cos(angle*Type(0.5));
+
+    quat_t<Type> dqda = quat_t<Type>(axis[0]*c, axis[1]*c, axis[2]*c, -s)*Type(0.5);
+
+    adj_axis += v*s;
+    adj_angle += dot(dqda, adj_ret);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_to_axis_angle(const quat_t<Type>& q, vec_t<3,Type>& axis, Type& angle, quat_t<Type>& adj_q, const vec_t<3,Type>& adj_axis, const Type& adj_angle)
+{   
+    Type l = length(vec_t<3,Type>(q.x, q.y, q.z));
+
+    Type ax_qx = Type(0);
+    Type ax_qy = Type(0);
+    Type ax_qz = Type(0);
+    Type ay_qx = Type(0);
+    Type ay_qy = Type(0);
+    Type ay_qz = Type(0);
+    Type az_qx = Type(0);
+    Type az_qy = Type(0);
+    Type az_qz = Type(0);
+
+    Type t_qx = Type(0);
+    Type t_qy = Type(0);
+    Type t_qz = Type(0);
+    Type t_qw = Type(0);
+
+    Type flip = q.w < Type(0) ? -1.0 : 1.0;
+
+    if (l > Type(0))
+    {
+        Type l_sq = l*l;
+        Type l_inv = Type(1) / l;
+        Type l_inv_sq = l_inv * l_inv;
+        Type l_inv_cu = l_inv_sq * l_inv;
+        
+        Type C = flip * l_inv_cu;
+        ax_qx = C * (q.y*q.y + q.z*q.z);
+        ax_qy = -C * q.x*q.y;
+        ax_qz = -C * q.x*q.z;
+        ay_qx = -C * q.y*q.x;
+        ay_qy = C * (q.x*q.x + q.z*q.z);
+        ay_qz = -C * q.y*q.z;
+        az_qx = -C * q.z*q.x;
+        az_qy = -C * q.z*q.y;
+        az_qz = C * (q.x*q.x + q.y*q.y);
+
+        Type D = Type(2) * flip / (l_sq + q.w*q.w);
+        t_qx = D * l_inv * q.x * q.w;
+        t_qy = D * l_inv * q.y * q.w;
+        t_qz = D * l_inv * q.z * q.w;
+        t_qw = -D * l;
+    }
+    else
+    {
+        if (abs(q.w) > Type(kEps))
+        {
+            Type t_qx = Type(2) / (sqrt(Type(3)) * abs(q.w));
+            Type t_qy = Type(2) / (sqrt(Type(3)) * abs(q.w));
+            Type t_qz = Type(2) / (sqrt(Type(3)) * abs(q.w));
+        }
+        // o/w we have a null quat_t which cannot backpropagate 
+    }
+
+    adj_q.x += ax_qx * adj_axis[0] + ay_qx * adj_axis[1] + az_qx * adj_axis[2] + t_qx * adj_angle;
+    adj_q.y += ax_qy * adj_axis[0] + ay_qy * adj_axis[1] + az_qy * adj_axis[2] + t_qy * adj_angle;
+    adj_q.z += ax_qz * adj_axis[0] + ay_qz * adj_axis[1] + az_qz * adj_axis[2] + t_qz * adj_angle;
+    adj_q.w += t_qw * adj_angle;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_rpy(Type roll, Type pitch, Type yaw, Type& adj_roll, Type& adj_pitch, Type& adj_yaw, const quat_t<Type>& adj_ret)
+{
+    Type cy = cos(yaw * Type(0.5));
+    Type sy = sin(yaw * Type(0.5));
+    Type cr = cos(roll * Type(0.5));
+    Type sr = sin(roll * Type(0.5));
+    Type cp = cos(pitch * Type(0.5));
+    Type sp = sin(pitch * Type(0.5));
+
+    Type w = (cy * cr * cp + sy * sr * sp);
+    Type x = (cy * sr * cp - sy * cr * sp);
+    Type y = (cy * cr * sp + sy * sr * cp);
+    Type z = (sy * cr * cp - cy * sr * sp);
+
+    Type dx_dr = Type(0.5) * w;
+    Type dx_dp = -Type(0.5) * cy * sr * sp - Type(0.5) * sy * cr * cp;
+    Type dx_dy = -Type(0.5) * y;
+
+    Type dy_dr = Type(0.5) * z;
+    Type dy_dp = Type(0.5) * cy * cr * cp - Type(0.5) * sy * sr * sp;
+    Type dy_dy = Type(0.5) * x;
+
+    Type dz_dr = -Type(0.5) * y;
+    Type dz_dp = -Type(0.5) * sy * cr * sp - Type(0.5) * cy * sr * cp;
+    Type dz_dy = Type(0.5) * w;
+
+    Type dw_dr = -Type(0.5) * x;
+    Type dw_dp = -Type(0.5) * cy * cr * sp + Type(0.5) * sy * sr * cp;
+    Type dw_dy = -Type(0.5) * z;
+
+    adj_roll += dot(quat_t<Type>(dx_dr, dy_dr, dz_dr, dw_dr), adj_ret);
+    adj_pitch += dot(quat_t<Type>(dx_dp, dy_dp, dz_dp, dw_dp), adj_ret);
+    adj_yaw += dot(quat_t<Type>(dx_dy, dy_dy, dz_dy, dw_dy), adj_ret);
+}
+
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_dot(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const Type adj_ret)
+{
+    adj_a += b*adj_ret;
+    adj_b += a*adj_ret;    
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void tensordot(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const Type adj_ret)
+{
+    adj_dot(a, b, adj_a, adj_b, adj_ret);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_length(const quat_t<Type>& a, Type ret, quat_t<Type>& adj_a, const Type adj_ret)
+{
+    if (ret > Type(kEps))
+    {
+        Type inv_l = Type(1)/ret;
+
+        adj_a += quat_t<Type>(a.x*inv_l, a.y*inv_l, a.z*inv_l, a.w*inv_l) * adj_ret;
+    }
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_length_sq(const quat_t<Type>& a, quat_t<Type>& adj_a, const Type adj_ret)
+{
+    adj_a += Type(2)*a*adj_ret;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_normalize(const quat_t<Type>& q, quat_t<Type>& adj_q, const quat_t<Type>& adj_ret)
+{
+    Type l = length(q);
+
+    if (l > Type(kEps))
+    {
+        Type l_inv = Type(1)/l;
+
+        adj_q += adj_ret*l_inv - q*(l_inv*l_inv*l_inv*dot(q, adj_ret));
+    }
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_inverse(const quat_t<Type>& q, quat_t<Type>& adj_q, const quat_t<Type>& adj_ret)
+{
+    adj_q.x -= adj_ret.x;
+    adj_q.y -= adj_ret.y;
+    adj_q.z -= adj_ret.z;
+    adj_q.w += adj_ret.w;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_add(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const quat_t<Type>& adj_ret)
+{
+    adj_a += adj_ret;
+    adj_b += adj_ret;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_sub(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const quat_t<Type>& adj_ret)
+{
+    adj_a += adj_ret;
+    adj_b -= adj_ret;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_mul(const quat_t<Type>& a, const quat_t<Type>& b, quat_t<Type>& adj_a, quat_t<Type>& adj_b, const quat_t<Type>& adj_ret)
+{
+    // shorthand
+    const quat_t<Type>& r = adj_ret;
+
+    adj_a += quat_t<Type>(b.w*r.x - b.x*r.w + b.y*r.z - b.z*r.y,
+                  b.w*r.y - b.y*r.w - b.x*r.z + b.z*r.x,
+                  b.w*r.z + b.x*r.y - b.y*r.x - b.z*r.w,
+                  b.w*r.w + b.x*r.x + b.y*r.y + b.z*r.z);
+
+    adj_b += quat_t<Type>(a.w*r.x - a.x*r.w - a.y*r.z + a.z*r.y,
+                  a.w*r.y - a.y*r.w + a.x*r.z - a.z*r.x,
+                  a.w*r.z - a.x*r.y + a.y*r.x - a.z*r.w,
+                  a.w*r.w + a.x*r.x + a.y*r.y + a.z*r.z);
+
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_mul(const quat_t<Type>& a, Type s, quat_t<Type>& adj_a, Type& adj_s, const quat_t<Type>& adj_ret)
+{
+    adj_a += adj_ret*s;
+    adj_s += dot(a, adj_ret);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_mul(Type s, const quat_t<Type>& a, Type& adj_s, quat_t<Type>& adj_a, const quat_t<Type>& adj_ret)
+{
+    adj_mul(a, s, adj_a, adj_s, adj_ret);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_div(quat_t<Type> a, Type s, quat_t<Type>& adj_a, Type& adj_s, const quat_t<Type>& adj_ret)
+{
+    adj_s -= dot(a, adj_ret)/ (s * s); // - a / s^2
+    adj_a += adj_ret / s;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_div(Type s, quat_t<Type> a, Type& adj_s, quat_t<Type>& adj_a, const quat_t<Type>& adj_ret)
+{
+    adj_s -= dot(a, adj_ret)/ (s * s); // - a / s^2
+    adj_a += s / adj_ret;
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_rotate(const quat_t<Type>& q, const vec_t<3,Type>& p, quat_t<Type>& adj_q, vec_t<3,Type>& adj_p, const vec_t<3,Type>& adj_ret)
+{
+
+    {
+        Type t2 = p[2]*q.z*Type(2);
+        Type t3 = p[1]*q.w*Type(2);
+        Type t4 = p[0]*q.w*Type(2);
+        Type t5 = p[0]*q.x*Type(2);
+        Type t6 = p[1]*q.y*Type(2);
+        Type t7 = p[2]*q.y*Type(2);
+        Type t8 = p[0]*q.z*Type(2);
+        Type t9 = p[0]*q.y*Type(2);
+        Type t10 = p[1]*q.x*Type(2);
+        adj_q.x += adj_ret[2]*(t3+t8)+adj_ret[0]*(t2+t6+p[0]*q.x*Type(4))+adj_ret[1]*(t9-p[2]*q.w*Type(2));
+        adj_q.y += adj_ret[1]*(t2+t5+p[1]*q.y*Type(4))+adj_ret[0]*(t10+p[2]*q.w*Type(2))-adj_ret[2]*(t4-p[1]*q.z*Type(2));
+        adj_q.z += adj_ret[1]*(t4+t7)+adj_ret[2]*(t5+t6+p[2]*q.z*Type(4))-adj_ret[0]*(t3-p[2]*q.x*Type(2));
+        adj_q.w += adj_ret[0]*(t7+p[0]*q.w*Type(4)-p[1]*q.z*Type(2))+adj_ret[1]*(t8+p[1]*q.w*Type(4)-p[2]*q.x*Type(2))+adj_ret[2]*(-t9+t10+p[2]*q.w*Type(4));
+    }
+
+    {
+        Type t2 = q.w*q.w;
+        Type t3 = t2*Type(2);
+        Type t4 = q.w*q.z*Type(2);
+        Type t5 = q.x*q.y*Type(2);
+        Type t6 = q.w*q.y*Type(2);
+        Type t7 = q.w*q.x*Type(2);
+        Type t8 = q.y*q.z*Type(2);
+        adj_p[0] += adj_ret[1]*(t4+t5)+adj_ret[0]*(t3+(q.x*q.x)*Type(2)-Type(1))-adj_ret[2]*(t6-q.x*q.z*Type(2));
+        adj_p[1] += adj_ret[2]*(t7+t8)-adj_ret[0]*(t4-t5)+adj_ret[1]*(t3+(q.y*q.y)*Type(2)-Type(1));
+        adj_p[2] += -adj_ret[1]*(t7-t8)+adj_ret[2]*(t3+(q.z*q.z)*Type(2)-Type(1))+adj_ret[0]*(t6+q.x*q.z*Type(2));
+    }
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_rotate_inv(const quat_t<Type>& q, const vec_t<3,Type>& p, quat_t<Type>& adj_q, vec_t<3,Type>& adj_p, const vec_t<3,Type>& adj_ret)
+{
+    const vec_t<3,Type>& r = adj_ret;
+
+    {
+        Type t2 = p[2]*q.w*Type(2);
+        Type t3 = p[2]*q.z*Type(2);
+        Type t4 = p[1]*q.w*Type(2);
+        Type t5 = p[0]*q.w*Type(2);
+        Type t6 = p[0]*q.x*Type(2);
+        Type t7 = p[1]*q.y*Type(2);
+        Type t8 = p[1]*q.z*Type(2);
+        Type t9 = p[2]*q.x*Type(2);
+        Type t10 = p[0]*q.y*Type(2);
+        adj_q.x += r[1]*(t2+t10)+r[0]*(t3+t7+p[0]*q.x*Type(4))-r[2]*(t4-p[0]*q.z*Type(2));
+        adj_q.y += r[2]*(t5+t8)+r[1]*(t3+t6+p[1]*q.y*Type(4))-r[0]*(t2-p[1]*q.x*Type(2));
+        adj_q.z += r[0]*(t4+t9)+r[2]*(t6+t7+p[2]*q.z*Type(4))-r[1]*(t5-p[2]*q.y*Type(2));
+        adj_q.w += r[0]*(t8+p[0]*q.w*Type(4)-p[2]*q.y*Type(2))+r[1]*(t9+p[1]*q.w*Type(4)-p[0]*q.z*Type(2))+r[2]*(t10-p[1]*q.x*Type(2)+p[2]*q.w*Type(4));
+    }
+
+    {
+        Type t2 = q.w*q.w;
+        Type t3 = t2*Type(2);
+        Type t4 = q.w*q.z*Type(2);
+        Type t5 = q.w*q.y*Type(2);
+        Type t6 = q.x*q.z*Type(2);
+        Type t7 = q.w*q.x*Type(2);
+        adj_p[0] += r[2]*(t5+t6)+r[0]*(t3+(q.x*q.x)*Type(2)-Type(1))-r[1]*(t4-q.x*q.y*Type(2));
+        adj_p[1] += r[1]*(t3+(q.y*q.y)*Type(2)-Type(1))+r[0]*(t4+q.x*q.y*Type(2))-r[2]*(t7-q.y*q.z*Type(2));
+        adj_p[2] += -r[0]*(t5-t6)+r[2]*(t3+(q.z*q.z)*Type(2)-Type(1))+r[1]*(t7+q.y*q.z*Type(2));
+    }
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_slerp(const quat_t<Type>& q0, const quat_t<Type>& q1, Type t, quat_t<Type>& ret, quat_t<Type>& adj_q0, quat_t<Type>& adj_q1, Type& adj_t, const quat_t<Type>& adj_ret)
+{
+    vec_t<3,Type> axis;
+    Type angle;
+    quat_t<Type> q0_inv = quat_inverse(q0);
+    quat_t<Type> q_inc = mul(q0_inv, q1);
+    quat_to_axis_angle(q_inc, axis, angle);
+    quat_t<Type> qt = quat_from_axis_angle(axis, angle * t);
+    angle = angle * 0.5;
+    
+    // adj_t
+    adj_t += dot(mul(ret, quat_t<Type>(angle*axis[0], angle*axis[1], angle*axis[2], Type(0))), adj_ret);
+
+    // adj_q0
+    quat_t<Type> q_inc_x_q0;
+    quat_t<Type> q_inc_y_q0;
+    quat_t<Type> q_inc_z_q0;
+    quat_t<Type> q_inc_w_q0;
+    
+    quat_t<Type> q_inc_x_q1;
+    quat_t<Type> q_inc_y_q1;
+    quat_t<Type> q_inc_z_q1;
+    quat_t<Type> q_inc_w_q1;
+
+    adj_mul(q0_inv, q1, q_inc_x_q0, q_inc_x_q1, quat_t<Type>(1.f, Type(0), Type(0), Type(0)));
+    adj_mul(q0_inv, q1, q_inc_y_q0, q_inc_y_q1, quat_t<Type>(Type(0), 1.f, Type(0), Type(0)));
+    adj_mul(q0_inv, q1, q_inc_z_q0, q_inc_z_q1, quat_t<Type>(Type(0), Type(0), 1.f, Type(0)));
+    adj_mul(q0_inv, q1, q_inc_w_q0, q_inc_w_q1, quat_t<Type>(Type(0), Type(0), Type(0), 1.f));
+
+    quat_t<Type> a_x_q_inc;
+    quat_t<Type> a_y_q_inc;
+    quat_t<Type> a_z_q_inc;
+    quat_t<Type> t_q_inc;
+
+    adj_quat_to_axis_angle(q_inc, axis, angle, a_x_q_inc, vec_t<3,Type>(1.f, Type(0), Type(0)), Type(0));
+    adj_quat_to_axis_angle(q_inc, axis, angle, a_y_q_inc, vec_t<3,Type>(Type(0), 1.f, Type(0)), Type(0));
+    adj_quat_to_axis_angle(q_inc, axis, angle, a_z_q_inc, vec_t<3,Type>(Type(0), Type(0), 1.f), Type(0));
+    adj_quat_to_axis_angle(q_inc, axis, angle, t_q_inc, vec_t<3,Type>(Type(0), Type(0), Type(0)), Type(1));
+    
+    Type cs = cos(angle*t);
+    Type sn = sin(angle*t);
+
+    quat_t<Type> q_inc_q0_x = quat_t<Type>(-q_inc_x_q0.x, -q_inc_y_q0.x, -q_inc_z_q0.x, -q_inc_w_q0.x);
+    quat_t<Type> q_inc_q0_y = quat_t<Type>(-q_inc_x_q0.y, -q_inc_y_q0.y, -q_inc_z_q0.y, -q_inc_w_q0.y);
+    quat_t<Type> q_inc_q0_z = quat_t<Type>(-q_inc_x_q0.z, -q_inc_y_q0.z, -q_inc_z_q0.z, -q_inc_w_q0.z);
+    quat_t<Type> q_inc_q0_w = quat_t<Type>(q_inc_x_q0.w, q_inc_y_q0.w, q_inc_z_q0.w, q_inc_w_q0.w);
+
+    Type a_x_q0_x = dot(a_x_q_inc, q_inc_q0_x);
+    Type a_x_q0_y = dot(a_x_q_inc, q_inc_q0_y);
+    Type a_x_q0_z = dot(a_x_q_inc, q_inc_q0_z);
+    Type a_x_q0_w = dot(a_x_q_inc, q_inc_q0_w);
+    Type a_y_q0_x = dot(a_y_q_inc, q_inc_q0_x);
+    Type a_y_q0_y = dot(a_y_q_inc, q_inc_q0_y);
+    Type a_y_q0_z = dot(a_y_q_inc, q_inc_q0_z);
+    Type a_y_q0_w = dot(a_y_q_inc, q_inc_q0_w);
+    Type a_z_q0_x = dot(a_z_q_inc, q_inc_q0_x);
+    Type a_z_q0_y = dot(a_z_q_inc, q_inc_q0_y);
+    Type a_z_q0_z = dot(a_z_q_inc, q_inc_q0_z);
+    Type a_z_q0_w = dot(a_z_q_inc, q_inc_q0_w);
+    Type t_q0_x = dot(t_q_inc, q_inc_q0_x);
+    Type t_q0_y = dot(t_q_inc, q_inc_q0_y);
+    Type t_q0_z = dot(t_q_inc, q_inc_q0_z);
+    Type t_q0_w = dot(t_q_inc, q_inc_q0_w);
+
+    quat_t<Type> q_s_q0_x = mul(quat_t<Type>(1.f, Type(0), Type(0), Type(0)), qt) + mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q0_x * cs + a_x_q0_x * sn,
+        0.5 * t * axis[1] * t_q0_x * cs + a_y_q0_x * sn,
+        0.5 * t * axis[2] * t_q0_x * cs + a_z_q0_x * sn,
+        -0.5 * t * t_q0_x * sn));
+
+    quat_t<Type> q_s_q0_y = mul(quat_t<Type>(Type(0), 1.f, Type(0), Type(0)), qt) + mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q0_y * cs + a_x_q0_y * sn,
+        0.5 * t * axis[1] * t_q0_y * cs + a_y_q0_y * sn,
+        0.5 * t * axis[2] * t_q0_y * cs + a_z_q0_y * sn,
+        -0.5 * t * t_q0_y * sn));
+
+    quat_t<Type> q_s_q0_z = mul(quat_t<Type>(Type(0), Type(0), 1.f, Type(0)), qt) + mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q0_z * cs + a_x_q0_z * sn,
+        0.5 * t * axis[1] * t_q0_z * cs + a_y_q0_z * sn,
+        0.5 * t * axis[2] * t_q0_z * cs + a_z_q0_z * sn,
+        -0.5 * t * t_q0_z * sn));
+
+    quat_t<Type> q_s_q0_w = mul(quat_t<Type>(Type(0), Type(0), Type(0), 1.f), qt) + mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q0_w * cs + a_x_q0_w * sn,
+        0.5 * t * axis[1] * t_q0_w * cs + a_y_q0_w * sn,
+        0.5 * t * axis[2] * t_q0_w * cs + a_z_q0_w * sn,
+        -0.5 * t * t_q0_w * sn));
+
+    adj_q0.x += dot(q_s_q0_x, adj_ret);
+    adj_q0.y += dot(q_s_q0_y, adj_ret);
+    adj_q0.z += dot(q_s_q0_z, adj_ret);
+    adj_q0.w += dot(q_s_q0_w, adj_ret);
+
+    // adj_q1
+    quat_t<Type> q_inc_q1_x = quat_t<Type>(q_inc_x_q1.x, q_inc_y_q1.x, q_inc_z_q1.x, q_inc_w_q1.x);
+    quat_t<Type> q_inc_q1_y = quat_t<Type>(q_inc_x_q1.y, q_inc_y_q1.y, q_inc_z_q1.y, q_inc_w_q1.y);
+    quat_t<Type> q_inc_q1_z = quat_t<Type>(q_inc_x_q1.z, q_inc_y_q1.z, q_inc_z_q1.z, q_inc_w_q1.z);
+    quat_t<Type> q_inc_q1_w = quat_t<Type>(q_inc_x_q1.w, q_inc_y_q1.w, q_inc_z_q1.w, q_inc_w_q1.w);
+
+    Type a_x_q1_x = dot(a_x_q_inc, q_inc_q1_x);
+    Type a_x_q1_y = dot(a_x_q_inc, q_inc_q1_y);
+    Type a_x_q1_z = dot(a_x_q_inc, q_inc_q1_z);
+    Type a_x_q1_w = dot(a_x_q_inc, q_inc_q1_w);
+    Type a_y_q1_x = dot(a_y_q_inc, q_inc_q1_x);
+    Type a_y_q1_y = dot(a_y_q_inc, q_inc_q1_y);
+    Type a_y_q1_z = dot(a_y_q_inc, q_inc_q1_z);
+    Type a_y_q1_w = dot(a_y_q_inc, q_inc_q1_w);
+    Type a_z_q1_x = dot(a_z_q_inc, q_inc_q1_x);
+    Type a_z_q1_y = dot(a_z_q_inc, q_inc_q1_y);
+    Type a_z_q1_z = dot(a_z_q_inc, q_inc_q1_z);
+    Type a_z_q1_w = dot(a_z_q_inc, q_inc_q1_w);
+    Type t_q1_x = dot(t_q_inc, q_inc_q1_x);
+    Type t_q1_y = dot(t_q_inc, q_inc_q1_y);
+    Type t_q1_z = dot(t_q_inc, q_inc_q1_z);
+    Type t_q1_w = dot(t_q_inc, q_inc_q1_w);
+
+    quat_t<Type> q_s_q1_x = mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q1_x * cs + a_x_q1_x * sn,
+        0.5 * t * axis[1] * t_q1_x * cs + a_y_q1_x * sn,
+        0.5 * t * axis[2] * t_q1_x * cs + a_z_q1_x * sn,
+        -0.5 * t * t_q1_x * sn));
+
+    quat_t<Type> q_s_q1_y = mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q1_y * cs + a_x_q1_y * sn,
+        0.5 * t * axis[1] * t_q1_y * cs + a_y_q1_y * sn,
+        0.5 * t * axis[2] * t_q1_y * cs + a_z_q1_y * sn,
+        -0.5 * t * t_q1_y * sn));
+
+    quat_t<Type> q_s_q1_z = mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q1_z * cs + a_x_q1_z * sn,
+        0.5 * t * axis[1] * t_q1_z * cs + a_y_q1_z * sn,
+        0.5 * t * axis[2] * t_q1_z * cs + a_z_q1_z * sn,
+        -0.5 * t * t_q1_z * sn));
+
+    quat_t<Type> q_s_q1_w = mul(q0, quat_t<Type>(
+        0.5 * t * axis[0] * t_q1_w * cs + a_x_q1_w * sn,
+        0.5 * t * axis[1] * t_q1_w * cs + a_y_q1_w * sn,
+        0.5 * t * axis[2] * t_q1_w * cs + a_z_q1_w * sn,
+        -0.5 * t * t_q1_w * sn));
+
+    adj_q1.x += dot(q_s_q1_x, adj_ret);
+    adj_q1.y += dot(q_s_q1_y, adj_ret);
+    adj_q1.z += dot(q_s_q1_z, adj_ret);
+    adj_q1.w += dot(q_s_q1_w, adj_ret);    
+
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_to_matrix(const quat_t<Type>& q, quat_t<Type>& adj_q, mat_t<3,3,Type>& adj_ret)
+{
+    // we don't care about adjoint w.r.t. constant identity matrix
+    vec_t<3,Type> t;
+
+    adj_quat_rotate(q, vec_t<3,Type>(1.0, 0.0, 0.0), adj_q, t, adj_ret.get_col(0));
+    adj_quat_rotate(q, vec_t<3,Type>(0.0, 1.0, 0.0), adj_q, t, adj_ret.get_col(1));
+    adj_quat_rotate(q, vec_t<3,Type>(0.0, 0.0, 1.0), adj_q, t, adj_ret.get_col(2));
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_quat_from_matrix(const mat_t<3,3,Type>& m, mat_t<3,3,Type>& adj_m, const quat_t<Type>& adj_ret)
+{
+    const Type tr = m.data[0][0] + m.data[1][1] + m.data[2][2];
+    Type x, y, z, w, h = Type(0);
+
+    Type dx_dm00 = Type(0), dx_dm01 = Type(0), dx_dm02 = Type(0);
+    Type dx_dm10 = Type(0), dx_dm11 = Type(0), dx_dm12 = Type(0);
+    Type dx_dm20 = Type(0), dx_dm21 = Type(0), dx_dm22 = Type(0);
+    Type dy_dm00 = Type(0), dy_dm01 = Type(0), dy_dm02 = Type(0);
+    Type dy_dm10 = Type(0), dy_dm11 = Type(0), dy_dm12 = Type(0);
+    Type dy_dm20 = Type(0), dy_dm21 = Type(0), dy_dm22 = Type(0);
+    Type dz_dm00 = Type(0), dz_dm01 = Type(0), dz_dm02 = Type(0);
+    Type dz_dm10 = Type(0), dz_dm11 = Type(0), dz_dm12 = Type(0);
+    Type dz_dm20 = Type(0), dz_dm21 = Type(0), dz_dm22 = Type(0);
+    Type dw_dm00 = Type(0), dw_dm01 = Type(0), dw_dm02 = Type(0);
+    Type dw_dm10 = Type(0), dw_dm11 = Type(0), dw_dm12 = Type(0);
+    Type dw_dm20 = Type(0), dw_dm21 = Type(0), dw_dm22 = Type(0);
+
+    if (tr >= Type(0)) {
+        h = sqrt(tr + Type(1));
+        w = Type(0.5) * h;
+        h = Type(0.5) / h;
+
+        x = (m.data[2][1] - m.data[1][2]) * h;
+        y = (m.data[0][2] - m.data[2][0]) * h;
+        z = (m.data[1][0] - m.data[0][1]) * h;
+
+        dw_dm00 = Type(0.5) * h;
+        dw_dm11 = Type(0.5) * h;
+        dw_dm22 = Type(0.5) * h;
+        dx_dm21 = h;
+        dx_dm12 = -h;
+        dx_dm00 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
+        dx_dm11 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
+        dx_dm22 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
+        dy_dm02 = h;
+        dy_dm20 = -h;
+        dy_dm00 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
+        dy_dm11 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
+        dy_dm22 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
+        dz_dm10 = h;
+        dz_dm01 = -h;
+        dz_dm00 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
+        dz_dm11 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
+        dz_dm22 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
+    } else {
+        size_t max_diag = 0;
+        if (m.data[1][1] > m.data[0][0]) {
+            max_diag = 1;
+        }
+        if (m.data[2][2] > m.data[max_diag][max_diag]) {
+            max_diag = 2;
+        }
+        
+        if (max_diag == 0) {
+            h = sqrt((m.data[0][0] - (m.data[1][1] + m.data[2][2])) + Type(1));
+            x = Type(0.5) * h;
+            h = Type(0.5) / h;
+
+            y = (m.data[0][1] + m.data[1][0]) * h;
+            z = (m.data[2][0] + m.data[0][2]) * h;
+            w = (m.data[2][1] - m.data[1][2]) * h;
+
+            dx_dm00 = Type(0.5) * h;
+            dx_dm11 = -Type(0.5) * h;
+            dx_dm22 = -Type(0.5) * h;
+            dy_dm01 = h;
+            dy_dm10 = h;
+            dy_dm00 = -Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
+            dy_dm11 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
+            dy_dm22 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
+            dz_dm20 = h;
+            dz_dm02 = h;
+            dz_dm00 = -Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
+            dz_dm11 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
+            dz_dm22 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
+            dw_dm21 = h;
+            dw_dm12 = -h;
+            dw_dm00 = Type(2) * h*h*h * (m.data[1][2] - m.data[2][1]);
+            dw_dm11 = Type(2) * h*h*h * (m.data[2][1] - m.data[1][2]);
+            dw_dm22 = Type(2) * h*h*h * (m.data[2][1] - m.data[1][2]);
+        } else if (max_diag == 1) {
+            h = sqrt((m.data[1][1] - (m.data[2][2] + m.data[0][0])) + Type(1));
+            y = Type(0.5) * h;
+            h = Type(0.5) / h;
+
+            z = (m.data[1][2] + m.data[2][1]) * h;
+            x = (m.data[0][1] + m.data[1][0]) * h;
+            w = (m.data[0][2] - m.data[2][0]) * h;
+
+            dy_dm00 = -Type(0.5) * h;
+            dy_dm11 = Type(0.5) * h;
+            dy_dm22 = -Type(0.5) * h;
+            dz_dm12 = h;
+            dz_dm21 = h;
+            dz_dm00 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
+            dz_dm11 = -Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
+            dz_dm22 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
+            dx_dm01 = h;
+            dx_dm10 = h;
+            dx_dm00 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
+            dx_dm11 = -Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
+            dx_dm22 = Type(2) * h*h*h * (m.data[0][1] + m.data[1][0]);
+            dw_dm02 = h;
+            dw_dm20 = -h;
+            dw_dm00 = Type(2) * h*h*h * (m.data[0][2] - m.data[2][0]);
+            dw_dm11 = Type(2) * h*h*h * (m.data[2][0] - m.data[0][2]);
+            dw_dm22 = Type(2) * h*h*h * (m.data[0][2] - m.data[2][0]);
+        } if (max_diag == 2) {
+            h = sqrt((m.data[2][2] - (m.data[0][0] + m.data[1][1])) + Type(1));
+            z = Type(0.5) * h;
+            h = Type(0.5) / h;
+
+            x = (m.data[2][0] + m.data[0][2]) * h;
+            y = (m.data[1][2] + m.data[2][1]) * h;
+            w = (m.data[1][0] - m.data[0][1]) * h;
+
+            dz_dm00 = -Type(0.5) * h;
+            dz_dm11 = -Type(0.5) * h;
+            dz_dm22 = Type(0.5) * h;
+            dx_dm20 = h;
+            dx_dm02 = h;
+            dx_dm00 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
+            dx_dm11 = Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
+            dx_dm22 = -Type(2) * h*h*h * (m.data[2][0] + m.data[0][2]);
+            dy_dm12 = h;
+            dy_dm21 = h;
+            dy_dm00 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
+            dy_dm11 = Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
+            dy_dm22 = -Type(2) * h*h*h * (m.data[1][2] + m.data[2][1]);
+            dw_dm10 = h;
+            dw_dm01 = -h;
+            dw_dm00 = Type(2) * h*h*h * (m.data[1][0] - m.data[0][1]);
+            dw_dm11 = Type(2) * h*h*h * (m.data[1][0] - m.data[0][1]);
+            dw_dm22 = Type(2) * h*h*h * (m.data[0][1] - m.data[1][0]);
+        }
+    }
+
+    quat_t<Type> dq_dm00 = quat_t<Type>(dx_dm00, dy_dm00, dz_dm00, dw_dm00);
+    quat_t<Type> dq_dm01 = quat_t<Type>(dx_dm01, dy_dm01, dz_dm01, dw_dm01);
+    quat_t<Type> dq_dm02 = quat_t<Type>(dx_dm02, dy_dm02, dz_dm02, dw_dm02);
+    quat_t<Type> dq_dm10 = quat_t<Type>(dx_dm10, dy_dm10, dz_dm10, dw_dm10);
+    quat_t<Type> dq_dm11 = quat_t<Type>(dx_dm11, dy_dm11, dz_dm11, dw_dm11);
+    quat_t<Type> dq_dm12 = quat_t<Type>(dx_dm12, dy_dm12, dz_dm12, dw_dm12);
+    quat_t<Type> dq_dm20 = quat_t<Type>(dx_dm20, dy_dm20, dz_dm20, dw_dm20);
+    quat_t<Type> dq_dm21 = quat_t<Type>(dx_dm21, dy_dm21, dz_dm21, dw_dm21);
+    quat_t<Type> dq_dm22 = quat_t<Type>(dx_dm22, dy_dm22, dz_dm22, dw_dm22);
+
+    quat_t<Type> adj_q;
+    adj_normalize(quat_t<Type>(x, y, z, w), adj_q, adj_ret);
+
+    adj_m.data[0][0] += dot(dq_dm00, adj_q);
+    adj_m.data[0][1] += dot(dq_dm01, adj_q);
+    adj_m.data[0][2] += dot(dq_dm02, adj_q);
+    adj_m.data[1][0] += dot(dq_dm10, adj_q);
+    adj_m.data[1][1] += dot(dq_dm11, adj_q);
+    adj_m.data[1][2] += dot(dq_dm12, adj_q);
+    adj_m.data[2][0] += dot(dq_dm20, adj_q);
+    adj_m.data[2][1] += dot(dq_dm21, adj_q);
+    adj_m.data[2][2] += dot(dq_dm22, adj_q);
+}
+
+template<typename Type>
+inline CUDA_CALLABLE void adj_mat_t(const vec_t<3,Type>& pos, const quat_t<Type>& rot, const vec_t<3,Type>& scale,
+                                          vec_t<3,Type>& adj_pos, quat_t<Type>& adj_rot, vec_t<3,Type>& adj_scale, const mat_t<4,4,Type>& adj_ret)
+{
+    mat_t<3,3,Type> R = quat_to_matrix(rot);
+    mat_t<3,3,Type> adj_R(0);
+
+    adj_pos[0] += adj_ret.data[0][3];
+    adj_pos[1] += adj_ret.data[1][3];
+    adj_pos[2] += adj_ret.data[2][3];
+
+    adj_mul(R.data[0][0], scale[0], adj_R.data[0][0], adj_scale[0], adj_ret.data[0][0]);
+    adj_mul(R.data[1][0], scale[0], adj_R.data[1][0], adj_scale[0], adj_ret.data[1][0]);
+    adj_mul(R.data[2][0], scale[0], adj_R.data[2][0], adj_scale[0], adj_ret.data[2][0]);
+
+    adj_mul(R.data[0][1], scale[1], adj_R.data[0][1], adj_scale[1], adj_ret.data[0][1]);
+    adj_mul(R.data[1][1], scale[1], adj_R.data[1][1], adj_scale[1], adj_ret.data[1][1]);
+    adj_mul(R.data[2][1], scale[1], adj_R.data[2][1], adj_scale[1], adj_ret.data[2][1]);
+
+    adj_mul(R.data[0][2], scale[2], adj_R.data[0][2], adj_scale[2], adj_ret.data[0][2]);
+    adj_mul(R.data[1][2], scale[2], adj_R.data[1][2], adj_scale[2], adj_ret.data[1][2]);
+    adj_mul(R.data[2][2], scale[2], adj_R.data[2][2], adj_scale[2], adj_ret.data[2][2]);
+
+    adj_quat_to_matrix(rot, adj_rot, adj_R);
+}
+
+template<unsigned Rows, unsigned Cols, typename Type>                
+inline CUDA_CALLABLE mat_t<Rows,Cols,Type>::mat_t(const vec_t<3,Type>& pos, const quat_t<Type>& rot, const vec_t<3,Type>& scale)
+{
+    mat_t<3,3,Type> R = quat_to_matrix(rot);
+
+    data[0][0] = R.data[0][0]*scale[0];
+    data[1][0] = R.data[1][0]*scale[0];
+    data[2][0] = R.data[2][0]*scale[0];
+    data[3][0] = Type(0);
+
+    data[0][1] = R.data[0][1]*scale[1];
+    data[1][1] = R.data[1][1]*scale[1];
+    data[2][1] = R.data[2][1]*scale[1];
+    data[3][1] = Type(0);
+
+    data[0][2] = R.data[0][2]*scale[2];
+    data[1][2] = R.data[1][2]*scale[2];
+    data[2][2] = R.data[2][2]*scale[2];
+    data[3][2] = Type(0);
+
+    data[0][3] = pos[0];
+    data[1][3] = pos[1];
+    data[2][3] = pos[2];
+    data[3][3] = Type(1);
+}
+
+template<typename Type=float32>
+inline CUDA_CALLABLE quat_t<Type> quat_identity()
+{
+    return quat_t<Type>(Type(0), Type(0), Type(0), Type(1));
+}
+
+
+
 } // namespace wp