warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.2.0__py3-none-manylinux2014_x86_64.whl

warp/native/intersect.h

@@ -1,1204 +1,1204 @@
-/** 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"
-
-namespace wp
-{
-
-CUDA_CALLABLE inline vec3 closest_point_to_aabb(const vec3& p, const vec3& lower, const vec3& upper)
-{
-	vec3 c;
-
-	{
-		float v = p[0];
-		if (v < lower[0]) v = lower[0];
-		if (v > upper[0]) v = upper[0];
-		c[0] = v;
-	}
-
-	{
-		float v = p[1];
-		if (v < lower[1]) v = lower[1];
-		if (v > upper[1]) v = upper[1];
-		c[1] = v;
-	}
-
-	{
-		float v = p[2];
-		if (v < lower[2]) v = lower[2];
-		if (v > upper[2]) v = upper[2];
-		c[2] = v;
-	}
-
-	return c;
-}
-
-CUDA_CALLABLE inline vec2 closest_point_to_triangle(const vec3& a, const vec3& b, const vec3& c, const vec3& p)
-{
-	vec3 ab = b-a;
-	vec3 ac = c-a;
-	vec3 ap = p-a;
-	
-	float u, v, w;
-	float d1 = dot(ab, ap);
-	float d2 = dot(ac, ap);
-	if (d1 <= 0.0f && d2 <= 0.0f)
-	{
-		v = 0.0f;
-		w = 0.0f;
-		u = 1.0f - v - w;
-		return vec2(u, v);
-	}
-
-	vec3 bp = p-b;
-	float d3 = dot(ab, bp);
-	float d4 = dot(ac, bp);
-	if (d3 >= 0.0f && d4 <= d3)
-	{
-		v = 1.0f;
-		w = 0.0f;
-		u = 1.0f - v - w;
-		return vec2(u, v);
-	}
-
-	float vc = d1*d4 - d3*d2;
-	if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
-	{
-		v = d1 / (d1-d3);
-		w = 0.0f;
-		u = 1.0f - v - w;
-		return vec2(u, v);
-	}
-
-	vec3 cp = p-c;
-	float d5 = dot(ab, cp);
-	float d6 = dot(ac, cp);
-	if (d6 >= 0.0f && d5 <= d6)
-	{
-		v = 0.0f;
-		w = 1.0f;
-		u = 1.0f - v - w;
-		return vec2(u, v);
-	}
-
-	float vb = d5*d2 - d1*d6;
-	if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
-	{
-		v = 0.0f;
-		w = d2 / (d2 - d6);
-		u = 1.0f - v - w;
-		return vec2(u, v);
-	}
-
-	float va = d3*d6 - d5*d4;
-	if (va <= 0.0f && (d4 -d3) >= 0.0f && (d5-d6) >= 0.0f)
-	{
-		w = (d4-d3)/((d4-d3) + (d5-d6));
-		v = 1.0f - w;
-		u = 1.0f - v - w;
-		return vec2(u, v);
-	}
-
-	float denom = 1.0f / (va + vb + vc);
-	v = vb * denom;
-	w = vc * denom;
-	u = 1.0f - v - w;
-	return vec2(u, v);
-}
-
-CUDA_CALLABLE inline vec2 furthest_point_to_triangle(const vec3& a, const vec3& b, const vec3& c, const vec3& p)
-{
-    vec3 pa = p-a;
-    vec3 pb = p-b;
-    vec3 pc = p-c;
-    float dist_a = dot(pa, pa);
-    float dist_b = dot(pb, pb);
-    float dist_c = dot(pc, pc);
-
-    if (dist_a > dist_b && dist_a > dist_c) 
-        return vec2(1.0f, 0.0f); // a is furthest
-    if (dist_b > dist_c)
-        return vec2(0.0f, 1.0f); // b is furthest
-    return vec2(0.0f, 0.0f); // c is furthest
-}
-
-CUDA_CALLABLE inline bool intersect_ray_aabb(const vec3& pos, const vec3& rcp_dir, const vec3& lower, const vec3& upper, float& t)
-{
-	float l1, l2, lmin, lmax;
-
-    l1 = (lower[0] - pos[0]) * rcp_dir[0];
-    l2 = (upper[0] - pos[0]) * rcp_dir[0];
-    lmin = min(l1,l2);
-    lmax = max(l1,l2);
-
-    l1 = (lower[1] - pos[1]) * rcp_dir[1];
-    l2 = (upper[1] - pos[1]) * rcp_dir[1];
-    lmin = max(min(l1,l2), lmin);
-    lmax = min(max(l1,l2), lmax);
-
-    l1 = (lower[2] - pos[2]) * rcp_dir[2];
-    l2 = (upper[2] - pos[2]) * rcp_dir[2];
-    lmin = max(min(l1,l2), lmin);
-    lmax = min(max(l1,l2), lmax);
-
-    bool hit = ((lmax >= 0.f) & (lmax >= lmin));
-    if (hit)
-        t = lmin;
-
-    return hit;
-}
-
-
-// Moller and Trumbore's method
-CUDA_CALLABLE inline bool intersect_ray_tri_moller(const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float& t, float& u, float& v, float& w, float& sign, vec3* normal)
-{
-    vec3 ab = b - a;
-    vec3 ac = c - a;
-    vec3 n = cross(ab, ac);
-
-    float d = dot(-dir, n);
-    float ood = 1.0f / d; // No need to check for division by zero here as infinity arithmetic will save us...
-    vec3 ap = p - a;
-
-    t = dot(ap, n) * ood;
-    if (t < 0.0f)
-        return false;
-
-    vec3 e = cross(-dir, ap);
-    v = dot(ac, e) * ood;
-    if (v < 0.0f || v > 1.0f) // ...here...
-        return false;
-    w = -dot(ab, e) * ood;
-    if (w < 0.0f || (v + w) > 1.0f) // ...and here
-        return false;
-
-    u = 1.0f - v - w;
-    if (normal)
-        *normal = n;
-
-	sign = d;
-
-    return true;
-}
-
-
-CUDA_CALLABLE inline bool intersect_ray_tri_rtcd(const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float& t, float& u, float& v, float& w, float& sign, vec3* normal)
-{
-	const vec3 ab = b-a;
-	const vec3 ac = c-a;
-
-	// calculate normal
-	vec3 n = cross(ab, ac);
-
-	// need to solve a system of three equations to give t, u, v
-	float d = dot(-dir, n);
-
-	// if dir is parallel to triangle plane or points away from triangle 
-	if (d <= 0.0f)
-        return false;
-
-	vec3 ap = p-a;
-	t = dot(ap, n);
-
-	// ignores tris behind 
-	if (t < 0.0f)
-		return false;
-
-	// compute barycentric coordinates
-	vec3 e = cross(-dir, ap);
-	v = dot(ac, e);
-	if (v < 0.0f || v > d) return false;
-
-	w = -dot(ab, e);
-	if (w < 0.0f || v + w > d) return false;
-
-	float ood = 1.0f / d;
-	t *= ood;
-	v *= ood;
-	w *= ood;
-	u = 1.0f-v-w;
-
-	// optionally write out normal (todo: this branch is a performance concern, should probably remove)
-	if (normal)
-		*normal = n;
-
-	return true;
-}
-
-#ifndef  __CUDA_ARCH__
-
-// these are provided as built-ins by CUDA
-inline float __int_as_float(int i)
-{
-	return *(float*)(&i);
-}
-
-inline int __float_as_int(float f)
-{
-	return *(int*)(&f);
-}
-
-#endif
-
-
-CUDA_CALLABLE inline float xorf(float x, int y)
-{
-	return __int_as_float(__float_as_int(x) ^ y);
-}
-
-CUDA_CALLABLE inline int sign_mask(float x)
-{
-	return __float_as_int(x) & 0x80000000;
-}
-
-CUDA_CALLABLE inline int max_dim(vec3 a)
-{
-	float x = abs(a[0]);
-	float y = abs(a[1]);
-	float z = abs(a[2]);
-
-	return longest_axis(vec3(x, y, z));
-}
-
-// computes the difference of products a*b - c*d using 
-// FMA instructions for improved numerical precision
-CUDA_CALLABLE inline float diff_product(float a, float b, float c, float d) 
-{
-    float cd = c * d;
-    float diff = fmaf(a, b, -cd);
-    float error = fmaf(-c, d, cd);
-
-    return diff + error;
-}
-
-// http://jcgt.org/published/0002/01/05/
-CUDA_CALLABLE inline bool intersect_ray_tri_woop(const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float& t, float& u, float& v, float& sign, vec3* normal)
-{
-	// todo: precompute for ray
-
-	int kz = max_dim(dir);
-	int kx = kz+1; if (kx == 3) kx = 0;
-	int ky = kx+1; if (ky == 3) ky = 0;
-
-	if (dir[kz] < 0.0f)
-	{
-		float tmp = kx;
-		kx = ky;
-		ky = tmp;
-	}
-
-	float Sx = dir[kx]/dir[kz];
-	float Sy = dir[ky]/dir[kz];
-	float Sz = 1.0f/dir[kz];
-
-	// todo: end precompute
-
-	const vec3 A = a-p;
-	const vec3 B = b-p;
-	const vec3 C = c-p;
-	
-	const float Ax = A[kx] - Sx*A[kz];
-	const float Ay = A[ky] - Sy*A[kz];
-	const float Bx = B[kx] - Sx*B[kz];
-	const float By = B[ky] - Sy*B[kz];
-	const float Cx = C[kx] - Sx*C[kz];
-	const float Cy = C[ky] - Sy*C[kz];
-		
-    float U = diff_product(Cx, By, Cy, Bx);
-    float V = diff_product(Ax, Cy, Ay, Cx);
-    float W = diff_product(Bx, Ay, By, Ax);
-
-	if (U == 0.0f || V == 0.0f || W == 0.0f) 
-	{
-		double CxBy = (double)Cx*(double)By;
-		double CyBx = (double)Cy*(double)Bx;
-		U = (float)(CxBy - CyBx);
-		double AxCy = (double)Ax*(double)Cy;
-		double AyCx = (double)Ay*(double)Cx;
-		V = (float)(AxCy - AyCx);
-		double BxAy = (double)Bx*(double)Ay;
-		double ByAx = (double)By*(double)Ax;
-		W = (float)(BxAy - ByAx);
-	}
-
-	if ((U<0.0f || V<0.0f || W<0.0f) &&	(U>0.0f || V>0.0f || W>0.0f)) 
-    {
-        return false;
-    }
-
-	float det = U+V+W;
-
-	if (det == 0.0f) 
-    {
-		return false;
-    }
-
-	const float Az = Sz*A[kz];
-	const float Bz = Sz*B[kz];
-	const float Cz = Sz*C[kz];
-	const float T = U*Az + V*Bz + W*Cz;
-
-	int det_sign = sign_mask(det);
-	if (xorf(T,det_sign) < 0.0f)// || xorf(T,det_sign) > hit.t * xorf(det, det_sign)) // early out if hit.t is specified
-    {
-		return false;
-    }
-
-	const float rcpDet = 1.0f/det;
-	u = U*rcpDet;
-	v = V*rcpDet;
-	t = T*rcpDet;
-	sign = det;
-	
-	// optionally write out normal (todo: this branch is a performance concern, should probably remove)
-	if (normal)
-	{
-		const vec3 ab = b-a;
-		const vec3 ac = c-a;
-
-		// calculate normal
-		*normal = cross(ab, ac); 
-	}
-
-	return true;
-}
-
-CUDA_CALLABLE inline void adj_intersect_ray_tri_woop(
-    const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float t, float u, float v, float sign, const vec3& normal,
-    vec3& adj_p, vec3& adj_dir, vec3& adj_a, vec3& adj_b, vec3& adj_c, float& adj_t, float& adj_u, float& adj_v, float& adj_sign, vec3& adj_normal, bool& adj_ret)
-{
-
-	// todo: precompute for ray
-
-	int kz = max_dim(dir);
-	int kx = kz+1; if (kx == 3) kx = 0;
-	int ky = kx+1; if (ky == 3) ky = 0;
-
-	if (dir[kz] < 0.0f)
-	{
-		float tmp = kx;
-		kx = ky;
-		ky = tmp;
-	}
-
-    const float Dx = dir[kx];
-    const float Dy = dir[ky];
-    const float Dz = dir[kz];
-
-	const float Sx = dir[kx]/dir[kz];
-	const float Sy = dir[ky]/dir[kz];
-	const float Sz = 1.0f/dir[kz];
-
-	// todo: end precompute
-
-	const vec3 A = a-p;
-	const vec3 B = b-p;
-	const vec3 C = c-p;
-	
-	const float Ax = A[kx] - Sx*A[kz];
-	const float Ay = A[ky] - Sy*A[kz];
-	const float Bx = B[kx] - Sx*B[kz];
-	const float By = B[ky] - Sy*B[kz];
-	const float Cx = C[kx] - Sx*C[kz];
-	const float Cy = C[ky] - Sy*C[kz];
-		
-	float U = Cx*By - Cy*Bx;
-	float V = Ax*Cy - Ay*Cx;
-	float W = Bx*Ay - By*Ax;
-
-	if (U == 0.0f || V == 0.0f || W == 0.0f) 
-	{
-		double CxBy = (double)Cx*(double)By;
-		double CyBx = (double)Cy*(double)Bx;
-		U = (float)(CxBy - CyBx);
-		double AxCy = (double)Ax*(double)Cy;
-		double AyCx = (double)Ay*(double)Cx;
-		V = (float)(AxCy - AyCx);
-		double BxAy = (double)Bx*(double)Ay;
-		double ByAx = (double)By*(double)Ax;
-		W = (float)(BxAy - ByAx);
-	}
-
-	if ((U<0.0f || V<0.0f || W<0.0f) &&	(U>0.0f || V>0.0f || W>0.0f)) 
-		return;
-
-	float det = U+V+W;
-
-	if (det == 0.0f) 
-		return;
-
-	const float Az = Sz*A[kz];
-	const float Bz = Sz*B[kz];
-	const float Cz = Sz*C[kz];
-	const float T = U*Az + V*Bz + W*Cz;
-
-	int det_sign = sign_mask(det);
-	if (xorf(T,det_sign) < 0.0f)// || xorf(T,det_sign) > hit.t * xorf(det, det_sign)) // early out if hit.t is specified
-		return;
-
-    const float rcpDet = (1.f / det);
-    const float rcpDetSq = rcpDet * rcpDet;
-
-    // adj_p
-
-    const float dAx_dpx = -1.f;
-    const float dBx_dpx = -1.f;
-    const float dCx_dpx = -1.f;
-    const float dAy_dpx = 0.f;
-    const float dBy_dpx = 0.f;
-    const float dCy_dpx = 0.f;
-    const float dAz_dpx = 0.f;
-    const float dBz_dpx = 0.f;
-    const float dCz_dpx = 0.f;
-
-    const float dAx_dpy = 0.f;
-    const float dBx_dpy = 0.f;
-    const float dCx_dpy = 0.f;
-    const float dAy_dpy = -1.f;
-    const float dBy_dpy = -1.f;
-    const float dCy_dpy = -1.f;
-    const float dAz_dpy = 0.f;
-    const float dBz_dpy = 0.f;
-    const float dCz_dpy = 0.f;
-    
-    const float dAx_dpz = Sx;
-    const float dBx_dpz = Sx;
-    const float dCx_dpz = Sx;
-    const float dAy_dpz = Sy;
-    const float dBy_dpz = Sy;
-    const float dCy_dpz = Sy;
-    const float dAz_dpz = -Sz;
-    const float dBz_dpz = -Sz;
-    const float dCz_dpz = -Sz;
-
-    const float dU_dpx = Cx * dBy_dpx + By * dCx_dpx - Cy * dBx_dpx - Bx * dCy_dpx;
-    const float dU_dpy = Cx * dBy_dpy + By * dCx_dpy - Cy * dBx_dpy - Bx * dCy_dpy;
-    const float dU_dpz = Cx * dBy_dpz + By * dCx_dpz - Cy * dBx_dpz - Bx * dCy_dpz;
-    const vec3 dU_dp = vec3(dU_dpx, dU_dpy, dU_dpz);
-
-    const float dV_dpx = Ax * dCy_dpx + Cy * dAx_dpx - Ay * dCx_dpx - Cx * dAy_dpx;
-    const float dV_dpy = Ax * dCy_dpy + Cy * dAx_dpy - Ay * dCx_dpy - Cx * dAy_dpy;
-    const float dV_dpz = Ax * dCy_dpz + Cy * dAx_dpz - Ay * dCx_dpz - Cx * dAy_dpz;
-    const vec3 dV_dp = vec3(dV_dpx, dV_dpy, dV_dpz);
-
-    const float dW_dpx = Bx * dAy_dpx + Ay * dBx_dpx - By * dAx_dpx - Ax * dBy_dpx;
-    const float dW_dpy = Bx * dAy_dpy + Ay * dBx_dpy - By * dAx_dpy - Ax * dBy_dpy;
-    const float dW_dpz = Bx * dAy_dpz + Ay * dBx_dpz - By * dAx_dpz - Ax * dBy_dpz;
-    const vec3 dW_dp = vec3(dW_dpx, dW_dpy, dW_dpz);
-
-    const float dT_dpx = dU_dpx * Az + U * dAz_dpx + dV_dpx * Bz + V * dBz_dpx + dW_dpx * Cz + W * dCz_dpx;
-    const float dT_dpy = dU_dpy * Az + U * dAz_dpy + dV_dpy * Bz + V * dBz_dpy + dW_dpy * Cz + W * dCz_dpy;
-    const float dT_dpz = dU_dpz * Az + U * dAz_dpz + dV_dpz * Bz + V * dBz_dpz + dW_dpz * Cz + W * dCz_dpz;
-    const vec3 dT_dp = vec3(dT_dpx, dT_dpy, dT_dpz);
-
-    const float dDet_dpx = dU_dpx + dV_dpx + dW_dpx;
-    const float dDet_dpy = dU_dpy + dV_dpy + dW_dpy;
-    const float dDet_dpz = dU_dpz + dV_dpz + dW_dpz;
-    const vec3 dDet_dp = vec3(dDet_dpx, dDet_dpy, dDet_dpz);
-
-    const vec3 du_dp = rcpDet * dU_dp + -U * rcpDetSq * dDet_dp;
-    const vec3 dv_dp = rcpDet * dV_dp + -V * rcpDetSq * dDet_dp;
-    const vec3 dt_dp = rcpDet * dT_dp + -T * rcpDetSq * dDet_dp;
-
-    vec3 adj_p_swapped = adj_u*du_dp + adj_v*dv_dp + adj_t*dt_dp;
-    adj_p[kx] += adj_p_swapped[0];
-    adj_p[ky] += adj_p_swapped[1];
-    adj_p[kz] += adj_p_swapped[2];
-
-    // adj_dir
-
-    const float dAx_dDx = -Sz * A[kz];
-    const float dBx_dDx = -Sz * B[kz];
-    const float dCx_dDx = -Sz * C[kz];
-    const float dAy_dDx = 0.f;
-    const float dBy_dDx = 0.f;
-    const float dCy_dDx = 0.f;
-    const float dAz_dDx = 0.f;
-    const float dBz_dDx = 0.f;
-    const float dCz_dDx = 0.f;
-    
-    const float dAx_dDy = 0.f;
-    const float dBx_dDy = 0.f;
-    const float dCx_dDy = 0.f;
-    const float dAy_dDy = -Sz * A[kz];
-    const float dBy_dDy = -Sz * B[kz];
-    const float dCy_dDy = -Sz * C[kz];
-    const float dAz_dDy = 0.f;
-    const float dBz_dDy = 0.f;
-    const float dCz_dDy = 0.f;
-    
-    const float dAx_dDz = Dx * Sz * Sz * A[kz];
-    const float dBx_dDz = Dx * Sz * Sz * B[kz];
-    const float dCx_dDz = Dx * Sz * Sz * C[kz];
-    const float dAy_dDz = Dy * Sz * Sz * A[kz];
-    const float dBy_dDz = Dy * Sz * Sz * B[kz];
-    const float dCy_dDz = Dy * Sz * Sz * C[kz];
-    const float dAz_dDz = -Sz * Sz * A[kz];
-    const float dBz_dDz = -Sz * Sz * B[kz];
-    const float dCz_dDz = -Sz * Sz * C[kz];
-
-    const float dU_dDx = Cx * dBy_dDx + By * dCx_dDx - Cy * dBx_dDx - Bx * dCy_dDx;
-    const float dU_dDy = Cx * dBy_dDy + By * dCx_dDy - Cy * dBx_dDy - Bx * dCy_dDy;
-    const float dU_dDz = Cx * dBy_dDz + By * dCx_dDz - Cy * dBx_dDz - Bx * dCy_dDz;
-    const vec3 dU_dD = vec3(dU_dDx, dU_dDy, dU_dDz);
-
-    const float dV_dDx = Ax * dCy_dDx + Cy * dAx_dDx - Ay * dCx_dDx - Cx * dAy_dDx;
-    const float dV_dDy = Ax * dCy_dDy + Cy * dAx_dDy - Ay * dCx_dDy - Cx * dAy_dDy;
-    const float dV_dDz = Ax * dCy_dDz + Cy * dAx_dDz - Ay * dCx_dDz - Cx * dAy_dDz;
-    const vec3 dV_dD = vec3(dV_dDx, dV_dDy, dV_dDz);
-
-    const float dW_dDx = Bx * dAy_dDx + Ay * dBx_dDx - By * dAx_dDx - Ax * dBy_dDx;
-    const float dW_dDy = Bx * dAy_dDy + Ay * dBx_dDy - By * dAx_dDy - Ax * dBy_dDy;
-    const float dW_dDz = Bx * dAy_dDz + Ay * dBx_dDz - By * dAx_dDz - Ax * dBy_dDz;
-    const vec3 dW_dD = vec3(dW_dDx, dW_dDy, dW_dDz);
-
-    const float dT_dDx = dU_dDx * Az + U * dAz_dDx + dV_dDx * Bz + V * dBz_dDx + dW_dDx * Cz + W * dCz_dDx;
-    const float dT_dDy = dU_dDy * Az + U * dAz_dDy + dV_dDy * Bz + V * dBz_dDy + dW_dDy * Cz + W * dCz_dDy;
-    const float dT_dDz = dU_dDz * Az + U * dAz_dDz + dV_dDz * Bz + V * dBz_dDz + dW_dDz * Cz + W * dCz_dDz;
-    const vec3 dT_dD = vec3(dT_dDx, dT_dDy, dT_dDz);
-
-    const float dDet_dDx = dU_dDx + dV_dDx + dW_dDx;
-    const float dDet_dDy = dU_dDy + dV_dDy + dW_dDy;
-    const float dDet_dDz = dU_dDz + dV_dDz + dW_dDz;
-    const vec3 dDet_dD = vec3(dDet_dDx, dDet_dDy, dDet_dDz);
-
-    const vec3 du_dD = rcpDet * dU_dD + -U * rcpDetSq * dDet_dD;
-    const vec3 dv_dD = rcpDet * dV_dD + -V * rcpDetSq * dDet_dD;
-    const vec3 dt_dD = rcpDet * dT_dD + -T * rcpDetSq * dDet_dD;
-
-    vec3 adj_dir_swapped = adj_u*du_dD + adj_v*dv_dD + adj_t*dt_dD;
-    adj_dir[kx] += adj_dir_swapped[0];
-    adj_dir[ky] += adj_dir_swapped[1];
-    adj_dir[kz] += adj_dir_swapped[2];
-}
-
-// Möller's method
-#include "intersect_tri.h"
-
-CUDA_CALLABLE inline int intersect_tri_tri(
-    vec3& v0, vec3& v1, vec3& v2,
-    vec3& u0, vec3& u1, vec3& u2)
-{
-	return NoDivTriTriIsect(&v0[0], &v1[0], &v2[0], &u0[0], &u1[0], &u2[0]);
-}
-
-CUDA_CALLABLE inline void adj_intersect_tri_tri(const vec3& var_v0,
-												const vec3& var_v1,
-												const vec3& var_v2,
-												const vec3& var_u0,
-												const vec3& var_u1,
-												const vec3& var_u2,
-												vec3& adj_v0,
-												vec3& adj_v1,
-												vec3& adj_v2,
-												vec3& adj_u0,
-												vec3& adj_u1,
-												vec3& adj_u2,
-												int adj_ret) {}
-
-
-CUDA_CALLABLE inline void adj_closest_point_to_triangle(
-	const vec3& var_a, const vec3& var_b, const vec3& var_c, const vec3& var_p,
-	vec3& adj_a, vec3& adj_b, vec3& adj_c, vec3& adj_p, vec2& adj_ret)
-{
-
-    // primal vars
-    vec3 var_0;
-    vec3 var_1;
-    vec3 var_2;
-    float32 var_3;
-    float32 var_4;
-    const float32 var_5 = 0.0;
-    bool var_6;
-    bool var_7;
-    bool var_8;
-    const float32 var_9 = 1.0;
-    vec2 var_10;
-    vec3 var_11;
-    float32 var_12;
-    float32 var_13;
-    bool var_14;
-    bool var_15;
-    bool var_16;
-    vec2 var_17;
-    vec2 var_18;
-    float32 var_19;
-    float32 var_20;
-    float32 var_21;
-    float32 var_22;
-    float32 var_23;
-    bool var_24;
-    bool var_25;
-    bool var_26;
-    bool var_27;
-    float32 var_28;
-    vec2 var_29;
-    vec2 var_30;
-    vec3 var_31;
-    float32 var_32;
-    float32 var_33;
-    bool var_34;
-    bool var_35;
-    bool var_36;
-    vec2 var_37;
-    vec2 var_38;
-    float32 var_39;
-    float32 var_40;
-    float32 var_41;
-    float32 var_42;
-    float32 var_43;
-    bool var_44;
-    bool var_45;
-    bool var_46;
-    bool var_47;
-    float32 var_48;
-    vec2 var_49;
-    vec2 var_50;
-    float32 var_51;
-    float32 var_52;
-    float32 var_53;
-    float32 var_54;
-    float32 var_55;
-    float32 var_56;
-    float32 var_57;
-    float32 var_58;
-    bool var_59;
-    float32 var_60;
-    bool var_61;
-    float32 var_62;
-    bool var_63;
-    bool var_64;
-    float32 var_65;
-    vec2 var_66;
-    // vec2 var_67;
-    float32 var_68;
-    float32 var_69;
-    float32 var_70;
-    float32 var_71;
-    float32 var_72;
-    float32 var_73;
-    float32 var_74;
-    // vec2 var_75;
-    //---------
-    // dual vars
-    vec3 adj_0 = 0;
-    vec3 adj_1 = 0;
-    vec3 adj_2 = 0;
-    float32 adj_3 = 0;
-    float32 adj_4 = 0;
-    float32 adj_5 = 0;
-    //bool adj_6 = 0;
-    //bool adj_7 = 0;
-    //bool adj_8 = 0;
-    float32 adj_9 = 0;
-    vec2 adj_10 = 0;
-    vec3 adj_11 = 0;
-    float32 adj_12 = 0;
-    float32 adj_13 = 0;
-    //bool adj_14 = 0;
-    //bool adj_15 = 0;
-    bool adj_16 = 0;
-    vec2 adj_17 = 0;
-    vec2 adj_18 = 0;
-    float32 adj_19 = 0;
-    float32 adj_20 = 0;
-    float32 adj_21 = 0;
-    float32 adj_22 = 0;
-    float32 adj_23 = 0;
-    //bool adj_24 = 0;
-    //bool adj_25 = 0;
-    //bool adj_26 = 0;
-    bool adj_27 = 0;
-    float32 adj_28 = 0;
-    vec2 adj_29 = 0;
-    vec2 adj_30 = 0;
-    vec3 adj_31 = 0;
-    float32 adj_32 = 0;
-    float32 adj_33 = 0;
-    //bool adj_34 = 0;
-    //bool adj_35 = 0;
-    bool adj_36 = 0;
-    vec2 adj_37 = 0;
-    vec2 adj_38 = 0;
-    float32 adj_39 = 0;
-    float32 adj_40 = 0;
-    float32 adj_41 = 0;
-    float32 adj_42 = 0;
-    float32 adj_43 = 0;
-    //bool adj_44 = 0;
-    //bool adj_45 = 0;
-    //bool adj_46 = 0;
-    bool adj_47 = 0;
-    float32 adj_48 = 0;
-    vec2 adj_49 = 0;
-    vec2 adj_50 = 0;
-    float32 adj_51 = 0;
-    float32 adj_52 = 0;
-    float32 adj_53 = 0;
-    float32 adj_54 = 0;
-    float32 adj_55 = 0;
-    float32 adj_56 = 0;
-    float32 adj_57 = 0;
-    float32 adj_58 = 0;
-    //bool adj_59 = 0;
-    float32 adj_60 = 0;
-    //bool adj_61 = 0;
-    float32 adj_62 = 0;
-    //bool adj_63 = 0;
-    bool adj_64 = 0;
-    float32 adj_65 = 0;
-    vec2 adj_66 = 0;
-    vec2 adj_67 = 0;
-    float32 adj_68 = 0;
-    float32 adj_69 = 0;
-    float32 adj_70 = 0;
-    float32 adj_71 = 0;
-    float32 adj_72 = 0;
-    float32 adj_73 = 0;
-    float32 adj_74 = 0;
-    vec2 adj_75 = 0;
-    //---------
-    // forward
-    var_0 = wp::sub(var_b, var_a);
-    var_1 = wp::sub(var_c, var_a);
-    var_2 = wp::sub(var_p, var_a);
-    var_3 = wp::dot(var_0, var_2);
-    var_4 = wp::dot(var_1, var_2);
-    var_6 = (var_3 <= var_5);
-    var_7 = (var_4 <= var_5);
-    var_8 = var_6 && var_7;
-    if (var_8) {
-    	var_10 = wp::vec2(var_9, var_5);
-    	goto label0;
-    }
-    var_11 = wp::sub(var_p, var_b);
-    var_12 = wp::dot(var_0, var_11);
-    var_13 = wp::dot(var_1, var_11);
-    var_14 = (var_12 >= var_5);
-    var_15 = (var_13 <= var_12);
-    var_16 = var_14 && var_15;
-    if (var_16) {
-    	var_17 = wp::vec2(var_5, var_9);
-    	goto label1;
-    }
-    var_18 = wp::select(var_16, var_10, var_17);
-    var_19 = wp::mul(var_3, var_13);
-    var_20 = wp::mul(var_12, var_4);
-    var_21 = wp::sub(var_19, var_20);
-    var_22 = wp::sub(var_3, var_12);
-    var_23 = wp::div(var_3, var_22);
-    var_24 = (var_21 <= var_5);
-    var_25 = (var_3 >= var_5);
-    var_26 = (var_12 <= var_5);
-    var_27 = var_24 && var_25 && var_26;
-    if (var_27) {
-    	var_28 = wp::sub(var_9, var_23);
-    	var_29 = wp::vec2(var_28, var_23);
-    	goto label2;
-    }
-    var_30 = wp::select(var_27, var_18, var_29);
-    var_31 = wp::sub(var_p, var_c);
-    var_32 = wp::dot(var_0, var_31);
-    var_33 = wp::dot(var_1, var_31);
-    var_34 = (var_33 >= var_5);
-    var_35 = (var_32 <= var_33);
-    var_36 = var_34 && var_35;
-    if (var_36) {
-    	var_37 = wp::vec2(var_5, var_5);
-    	goto label3;
-    }
-    var_38 = wp::select(var_36, var_30, var_37);
-    var_39 = wp::mul(var_32, var_4);
-    var_40 = wp::mul(var_3, var_33);
-    var_41 = wp::sub(var_39, var_40);
-    var_42 = wp::sub(var_4, var_33);
-    var_43 = wp::div(var_4, var_42);
-    var_44 = (var_41 <= var_5);
-    var_45 = (var_4 >= var_5);
-    var_46 = (var_33 <= var_5);
-    var_47 = var_44 && var_45 && var_46;
-    if (var_47) {
-    	var_48 = wp::sub(var_9, var_43);
-    	var_49 = wp::vec2(var_48, var_5);
-    	goto label4;
-    }
-    var_50 = wp::select(var_47, var_38, var_49);
-    var_51 = wp::mul(var_12, var_33);
-    var_52 = wp::mul(var_32, var_13);
-    var_53 = wp::sub(var_51, var_52);
-    var_54 = wp::sub(var_13, var_12);
-    var_55 = wp::sub(var_13, var_12);
-    var_56 = wp::sub(var_32, var_33);
-    var_57 = wp::add(var_55, var_56);
-    var_58 = wp::div(var_54, var_57);
-    var_59 = (var_53 <= var_5);
-    var_60 = wp::sub(var_13, var_12);
-    var_61 = (var_60 >= var_5);
-    var_62 = wp::sub(var_32, var_33);
-    var_63 = (var_62 >= var_5);
-    var_64 = var_59 && var_61 && var_63;
-    if (var_64) {
-    	var_65 = wp::sub(var_9, var_58);
-    	var_66 = wp::vec2(var_5, var_65);
-    	goto label5;
-    }
-    // var_67 = wp::select(var_64, var_50, var_66);
-    var_68 = wp::add(var_53, var_41);
-    var_69 = wp::add(var_68, var_21);
-    var_70 = wp::div(var_9, var_69);
-    var_71 = wp::mul(var_41, var_70);
-    var_72 = wp::mul(var_21, var_70);
-    var_73 = wp::sub(var_9, var_71);
-    var_74 = wp::sub(var_73, var_72);
-    // var_75 = wp::vec2(var_74, var_71);
-    goto label6;
-    //---------
-    // reverse
-    label6:;
-    adj_75 += adj_ret;
-    wp::adj_vec2(var_74, var_71, adj_74, adj_71, adj_75);
-    wp::adj_sub(var_73, var_72, adj_73, adj_72, adj_74);
-    wp::adj_sub(var_9, var_71, adj_9, adj_71, adj_73);
-    wp::adj_mul(var_21, var_70, adj_21, adj_70, adj_72);
-    wp::adj_mul(var_41, var_70, adj_41, adj_70, adj_71);
-    wp::adj_div(var_9, var_69, var_70, adj_9, adj_69, adj_70);
-    wp::adj_add(var_68, var_21, adj_68, adj_21, adj_69);
-    wp::adj_add(var_53, var_41, adj_53, adj_41, adj_68);
-    wp::adj_select(var_64, var_50, var_66, adj_64, adj_50, adj_66, adj_67);
-    if (var_64) {
-    	label5:;
-    	adj_66 += adj_ret;
-    	wp::adj_vec2(var_5, var_65, adj_5, adj_65, adj_66);
-    	wp::adj_sub(var_9, var_58, adj_9, adj_58, adj_65);
-    }
-    wp::adj_sub(var_32, var_33, adj_32, adj_33, adj_62);
-    wp::adj_sub(var_13, var_12, adj_13, adj_12, adj_60);
-    wp::adj_div(var_54, var_57, var_58, adj_54, adj_57, adj_58);
-    wp::adj_add(var_55, var_56, adj_55, adj_56, adj_57);
-    wp::adj_sub(var_32, var_33, adj_32, adj_33, adj_56);
-    wp::adj_sub(var_13, var_12, adj_13, adj_12, adj_55);
-    wp::adj_sub(var_13, var_12, adj_13, adj_12, adj_54);
-    wp::adj_sub(var_51, var_52, adj_51, adj_52, adj_53);
-    wp::adj_mul(var_32, var_13, adj_32, adj_13, adj_52);
-    wp::adj_mul(var_12, var_33, adj_12, adj_33, adj_51);
-    wp::adj_select(var_47, var_38, var_49, adj_47, adj_38, adj_49, adj_50);
-    if (var_47) {
-    	label4:;
-    	adj_49 += adj_ret;
-    	wp::adj_vec2(var_48, var_5, adj_48, adj_5, adj_49);
-    	wp::adj_sub(var_9, var_43, adj_9, adj_43, adj_48);
-    }
-    wp::adj_div(var_4, var_42, var_43, adj_4, adj_42, adj_43);
-    wp::adj_sub(var_4, var_33, adj_4, adj_33, adj_42);
-    wp::adj_sub(var_39, var_40, adj_39, adj_40, adj_41);
-    wp::adj_mul(var_3, var_33, adj_3, adj_33, adj_40);
-    wp::adj_mul(var_32, var_4, adj_32, adj_4, adj_39);
-    wp::adj_select(var_36, var_30, var_37, adj_36, adj_30, adj_37, adj_38);
-    if (var_36) {
-    	label3:;
-    	adj_37 += adj_ret;
-    	wp::adj_vec2(var_5, var_5, adj_5, adj_5, adj_37);
-    }
-    wp::adj_dot(var_1, var_31, adj_1, adj_31, adj_33);
-    wp::adj_dot(var_0, var_31, adj_0, adj_31, adj_32);
-    wp::adj_sub(var_p, var_c, adj_p, adj_c, adj_31);
-    wp::adj_select(var_27, var_18, var_29, adj_27, adj_18, adj_29, adj_30);
-    if (var_27) {
-    	label2:;
-    	adj_29 += adj_ret;
-    	wp::adj_vec2(var_28, var_23, adj_28, adj_23, adj_29);
-    	wp::adj_sub(var_9, var_23, adj_9, adj_23, adj_28);
-    }
-    wp::adj_div(var_3, var_22, var_23, adj_3, adj_22, adj_23);
-    wp::adj_sub(var_3, var_12, adj_3, adj_12, adj_22);
-    wp::adj_sub(var_19, var_20, adj_19, adj_20, adj_21);
-    wp::adj_mul(var_12, var_4, adj_12, adj_4, adj_20);
-    wp::adj_mul(var_3, var_13, adj_3, adj_13, adj_19);
-    wp::adj_select(var_16, var_10, var_17, adj_16, adj_10, adj_17, adj_18);
-    if (var_16) {
-    	label1:;
-    	adj_17 += adj_ret;
-    	wp::adj_vec2(var_5, var_9, adj_5, adj_9, adj_17);
-    }
-    wp::adj_dot(var_1, var_11, adj_1, adj_11, adj_13);
-    wp::adj_dot(var_0, var_11, adj_0, adj_11, adj_12);
-    wp::adj_sub(var_p, var_b, adj_p, adj_b, adj_11);
-    if (var_8) {
-    	label0:;
-    	adj_10 += adj_ret;
-    	wp::adj_vec2(var_9, var_5, adj_9, adj_5, adj_10);
-    }
-    wp::adj_dot(var_1, var_2, adj_1, adj_2, adj_4);
-    wp::adj_dot(var_0, var_2, adj_0, adj_2, adj_3);
-    wp::adj_sub(var_p, var_a, adj_p, adj_a, adj_2);
-    wp::adj_sub(var_c, var_a, adj_c, adj_a, adj_1);
-    wp::adj_sub(var_b, var_a, adj_b, adj_a, adj_0);
-    return;
-
-}
-
-
-    
-// ----------------------------------------------------------------
-// jleaf: I needed to replace "float(" with "cast_float(" manually below because 
-// "#define float(x) cast_float(x)"" in this header affects other files.
-// See adjoint in "intersect_adj.h" for the generated adjoint.
-/* 
-  Here is the original warp implementation that was used to generate this code:
-
-# https://books.google.ca/books?id=WGpL6Sk9qNAC&printsec=frontcover&hl=en#v=onepage&q=triangle&f=false
-# From 5.1.9
-# p1 and q1 are points of edge 1.
-# p2 and q2 are points of edge 2.
-# epsilon zero tolerance for determining if points in an edge are degenerate
-# output: A single wp.vec3, containing s and t for edges 1 and 2 respectively,
-# and the distance between their closest points.
-@wp.func
-def closest_point_edge_edge(
-    p1: wp.vec3, q1: wp.vec3, p2: wp.vec3, q2: wp.vec3, epsilon: float
-):
-    # direction vectors of each segment/edge
-    d1 = q1 - p1
-    d2 = q2 - p2
-    r = p1 - p2
-
-    a = wp.dot(d1, d1)  # squared length of segment s1, always nonnegative
-    e = wp.dot(d2, d2)  # squared length of segment s2, always nonnegative
-    f = wp.dot(d2, r)
-
-    s = float(0.0)
-    t = float(0.0)
-    dist = wp.length(p2 - p1)
-
-    # Check if either or both segments degenerate into points
-    if a <= epsilon and e <= epsilon:
-        # both segments degenerate into points
-        return wp.vec3(s, t, dist)
-
-    if a <= epsilon:
-        s = float(0.0)
-        t = float(f / e)  # s = 0 => t = (b*s + f) / e = f / e
-    else:
-        c = wp.dot(d1, r)
-        if e <= epsilon:
-            # second segment generates into a point
-            s = wp.clamp(-c / a, 0.0, 1.0)  # t = 0 => s = (b*t-c)/a = -c/a
-            t = float(0.0)
-        else:
-            # The general nondegenerate case starts here
-            b = wp.dot(d1, d2)
-            denom = a * e - b * b  # always nonnegative
-
-            # if segments not parallel, compute closest point on L1 to L2 and
-            # clamp to segment S1. Else pick arbitrary s (here 0)
-            if denom != 0.0:
-                s = wp.clamp((b * f - c * e) / denom, 0.0, 1.0)
-            else:
-                s = 0.0
-
-            # compute point on L2 closest to S1(s) using
-            # t = dot((p1+d2*s) - p2,d2)/dot(d2,d2) = (b*s+f)/e
-            t = (b * s + f) / e
-
-            # if t in [0,1] done. Else clamp t, recompute s for the new value
-            # of t using s = dot((p2+d2*t-p1,d1)/dot(d1,d1) = (t*b - c)/a
-            # and clamp s to [0,1]
-            if t < 0.0:
-                t = 0.0
-                s = wp.clamp(-c / a, 0.0, 1.0)
-            elif t > 1.0:
-                t = 1.0
-                s = wp.clamp((b - c) / a, 0.0, 1.0)
-
-    c1 = p1 + (q1 - p1) * s
-    c2 = p2 + (q2 - p2) * t
-    dist = wp.length(c2 - c1)
-    return wp.vec3(s, t, dist)
-
-*/
-
-static CUDA_CALLABLE vec3 closest_point_edge_edge(vec3 var_p1,
-	vec3 var_q1,
-	vec3 var_p2,
-	vec3 var_q2,
-	float32 var_epsilon)
-{
-    //---------
-    // primal vars
-    vec3 var_0;
-    vec3 var_1;
-    vec3 var_2;
-    float32 var_3;
-    float32 var_4;
-    float32 var_5;
-    const float32 var_6 = 0.0;
-    float32 var_7;
-    float32 var_8;
-    vec3 var_9;
-    float32 var_10;
-    bool var_11;
-    bool var_12;
-    bool var_13;
-    vec3 var_14;
-    bool var_15;
-    float32 var_16;
-    float32 var_17;
-    float32 var_18;
-    float32 var_19;
-    float32 var_20;
-    float32 var_21;
-    bool var_22;
-    float32 var_23;
-    float32 var_24;
-    const float32 var_25 = 1.0;
-    float32 var_26;
-    float32 var_27;
-    float32 var_28;
-    float32 var_29;
-    float32 var_30;
-    float32 var_31;
-    float32 var_32;
-    float32 var_33;
-    bool var_34;
-    float32 var_35;
-    float32 var_36;
-    float32 var_37;
-    float32 var_38;
-    float32 var_39;
-    float32 var_40;
-    float32 var_41;
-    float32 var_42;
-    float32 var_43;
-    float32 var_44;
-    bool var_45;
-    float32 var_46;
-    float32 var_47;
-    float32 var_48;
-    float32 var_49;
-    float32 var_50;
-    bool var_51;
-    float32 var_52;
-    float32 var_53;
-    float32 var_54;
-    float32 var_55;
-    float32 var_56;
-    float32 var_57;
-    float32 var_58;
-    float32 var_59;
-    float32 var_60;
-    float32 var_61;
-    float32 var_62;
-    vec3 var_63;
-    vec3 var_64;
-    vec3 var_65;
-    vec3 var_66;
-    vec3 var_67;
-    vec3 var_68;
-    vec3 var_69;
-    float32 var_70;
-    vec3 var_71;
-    //---------
-    // forward
-    var_0 = wp::sub(var_q1, var_p1);
-    var_1 = wp::sub(var_q2, var_p2);
-    var_2 = wp::sub(var_p1, var_p2);
-    var_3 = wp::dot(var_0, var_0);
-    var_4 = wp::dot(var_1, var_1);
-    var_5 = wp::dot(var_1, var_2);
-    var_7 = wp::cast_float(var_6);
-    var_8 = wp::cast_float(var_6);
-    var_9 = wp::sub(var_p2, var_p1);
-    var_10 = wp::length(var_9);
-    var_11 = (var_3 <= var_epsilon);
-    var_12 = (var_4 <= var_epsilon);
-    var_13 = var_11 && var_12;
-    if (var_13) {
-    	var_14 = wp::vec3(var_7, var_8, var_10);
-    	return var_14;
-    }
-    var_15 = (var_3 <= var_epsilon);
-    if (var_15) {
-    	var_16 = wp::cast_float(var_6);
-    	var_17 = wp::div(var_5, var_4);
-    	var_18 = wp::cast_float(var_17);
-    }
-    var_19 = wp::select(var_15, var_7, var_16);
-    var_20 = wp::select(var_15, var_8, var_18);
-    if (!var_15) {
-    	var_21 = wp::dot(var_0, var_2);
-    	var_22 = (var_4 <= var_epsilon);
-    	if (var_22) {
-    		var_23 = wp::neg(var_21);
-    		var_24 = wp::div(var_23, var_3);
-    		var_26 = wp::clamp(var_24, var_6, var_25);
-    		var_27 = wp::cast_float(var_6);
-    	}
-    	var_28 = wp::select(var_22, var_19, var_26);
-    	var_29 = wp::select(var_22, var_20, var_27);
-    	if (!var_22) {
-    		var_30 = wp::dot(var_0, var_1);
-    		var_31 = wp::mul(var_3, var_4);
-    		var_32 = wp::mul(var_30, var_30);
-    		var_33 = wp::sub(var_31, var_32);
-    		var_34 = (var_33 != var_6);
-    		if (var_34) {
-    			var_35 = wp::mul(var_30, var_5);
-    			var_36 = wp::mul(var_21, var_4);
-    			var_37 = wp::sub(var_35, var_36);
-    			var_38 = wp::div(var_37, var_33);
-    			var_39 = wp::clamp(var_38, var_6, var_25);
-    		}
-    		var_40 = wp::select(var_34, var_28, var_39);
-    		if (!var_34) {
-    		}
-    		var_41 = wp::select(var_34, var_6, var_40);
-    		var_42 = wp::mul(var_30, var_41);
-    		var_43 = wp::add(var_42, var_5);
-    		var_44 = wp::div(var_43, var_4);
-    		var_45 = (var_44 < var_6);
-    		if (var_45) {
-    			var_46 = wp::neg(var_21);
-    			var_47 = wp::div(var_46, var_3);
-    			var_48 = wp::clamp(var_47, var_6, var_25);
-    		}
-    		var_49 = wp::select(var_45, var_41, var_48);
-    		var_50 = wp::select(var_45, var_44, var_6);
-    		if (!var_45) {
-    			var_51 = (var_50 > var_25);
-    			if (var_51) {
-    				var_52 = wp::sub(var_30, var_21);
-    				var_53 = wp::div(var_52, var_3);
-    				var_54 = wp::clamp(var_53, var_6, var_25);
-    			}
-    			var_55 = wp::select(var_51, var_49, var_54);
-    			var_56 = wp::select(var_51, var_50, var_25);
-    		}
-    		var_57 = wp::select(var_45, var_55, var_49);
-    		var_58 = wp::select(var_45, var_56, var_50);
-    	}
-    	var_59 = wp::select(var_22, var_57, var_28);
-    	var_60 = wp::select(var_22, var_58, var_29);
-    }
-    var_61 = wp::select(var_15, var_59, var_19);
-    var_62 = wp::select(var_15, var_60, var_20);
-    var_63 = wp::sub(var_q1, var_p1);
-    var_64 = wp::mul(var_63, var_61);
-    var_65 = wp::add(var_p1, var_64);
-    var_66 = wp::sub(var_q2, var_p2);
-    var_67 = wp::mul(var_66, var_62);
-    var_68 = wp::add(var_p2, var_67);
-    var_69 = wp::sub(var_68, var_65);
-    var_70 = wp::length(var_69);
-    var_71 = wp::vec3(var_61, var_62, var_70);
-    return var_71;
-
-}
-} // 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"
+
+namespace wp
+{
+
+CUDA_CALLABLE inline vec3 closest_point_to_aabb(const vec3& p, const vec3& lower, const vec3& upper)
+{
+	vec3 c;
+
+	{
+		float v = p[0];
+		if (v < lower[0]) v = lower[0];
+		if (v > upper[0]) v = upper[0];
+		c[0] = v;
+	}
+
+	{
+		float v = p[1];
+		if (v < lower[1]) v = lower[1];
+		if (v > upper[1]) v = upper[1];
+		c[1] = v;
+	}
+
+	{
+		float v = p[2];
+		if (v < lower[2]) v = lower[2];
+		if (v > upper[2]) v = upper[2];
+		c[2] = v;
+	}
+
+	return c;
+}
+
+CUDA_CALLABLE inline vec2 closest_point_to_triangle(const vec3& a, const vec3& b, const vec3& c, const vec3& p)
+{
+	vec3 ab = b-a;
+	vec3 ac = c-a;
+	vec3 ap = p-a;
+	
+	float u, v, w;
+	float d1 = dot(ab, ap);
+	float d2 = dot(ac, ap);
+	if (d1 <= 0.0f && d2 <= 0.0f)
+	{
+		v = 0.0f;
+		w = 0.0f;
+		u = 1.0f - v - w;
+		return vec2(u, v);
+	}
+
+	vec3 bp = p-b;
+	float d3 = dot(ab, bp);
+	float d4 = dot(ac, bp);
+	if (d3 >= 0.0f && d4 <= d3)
+	{
+		v = 1.0f;
+		w = 0.0f;
+		u = 1.0f - v - w;
+		return vec2(u, v);
+	}
+
+	float vc = d1*d4 - d3*d2;
+	if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
+	{
+		v = d1 / (d1-d3);
+		w = 0.0f;
+		u = 1.0f - v - w;
+		return vec2(u, v);
+	}
+
+	vec3 cp = p-c;
+	float d5 = dot(ab, cp);
+	float d6 = dot(ac, cp);
+	if (d6 >= 0.0f && d5 <= d6)
+	{
+		v = 0.0f;
+		w = 1.0f;
+		u = 1.0f - v - w;
+		return vec2(u, v);
+	}
+
+	float vb = d5*d2 - d1*d6;
+	if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
+	{
+		v = 0.0f;
+		w = d2 / (d2 - d6);
+		u = 1.0f - v - w;
+		return vec2(u, v);
+	}
+
+	float va = d3*d6 - d5*d4;
+	if (va <= 0.0f && (d4 -d3) >= 0.0f && (d5-d6) >= 0.0f)
+	{
+		w = (d4-d3)/((d4-d3) + (d5-d6));
+		v = 1.0f - w;
+		u = 1.0f - v - w;
+		return vec2(u, v);
+	}
+
+	float denom = 1.0f / (va + vb + vc);
+	v = vb * denom;
+	w = vc * denom;
+	u = 1.0f - v - w;
+	return vec2(u, v);
+}
+
+CUDA_CALLABLE inline vec2 furthest_point_to_triangle(const vec3& a, const vec3& b, const vec3& c, const vec3& p)
+{
+    vec3 pa = p-a;
+    vec3 pb = p-b;
+    vec3 pc = p-c;
+    float dist_a = dot(pa, pa);
+    float dist_b = dot(pb, pb);
+    float dist_c = dot(pc, pc);
+
+    if (dist_a > dist_b && dist_a > dist_c) 
+        return vec2(1.0f, 0.0f); // a is furthest
+    if (dist_b > dist_c)
+        return vec2(0.0f, 1.0f); // b is furthest
+    return vec2(0.0f, 0.0f); // c is furthest
+}
+
+CUDA_CALLABLE inline bool intersect_ray_aabb(const vec3& pos, const vec3& rcp_dir, const vec3& lower, const vec3& upper, float& t)
+{
+	float l1, l2, lmin, lmax;
+
+    l1 = (lower[0] - pos[0]) * rcp_dir[0];
+    l2 = (upper[0] - pos[0]) * rcp_dir[0];
+    lmin = min(l1,l2);
+    lmax = max(l1,l2);
+
+    l1 = (lower[1] - pos[1]) * rcp_dir[1];
+    l2 = (upper[1] - pos[1]) * rcp_dir[1];
+    lmin = max(min(l1,l2), lmin);
+    lmax = min(max(l1,l2), lmax);
+
+    l1 = (lower[2] - pos[2]) * rcp_dir[2];
+    l2 = (upper[2] - pos[2]) * rcp_dir[2];
+    lmin = max(min(l1,l2), lmin);
+    lmax = min(max(l1,l2), lmax);
+
+    bool hit = ((lmax >= 0.f) & (lmax >= lmin));
+    if (hit)
+        t = lmin;
+
+    return hit;
+}
+
+
+// Moller and Trumbore's method
+CUDA_CALLABLE inline bool intersect_ray_tri_moller(const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float& t, float& u, float& v, float& w, float& sign, vec3* normal)
+{
+    vec3 ab = b - a;
+    vec3 ac = c - a;
+    vec3 n = cross(ab, ac);
+
+    float d = dot(-dir, n);
+    float ood = 1.0f / d; // No need to check for division by zero here as infinity arithmetic will save us...
+    vec3 ap = p - a;
+
+    t = dot(ap, n) * ood;
+    if (t < 0.0f)
+        return false;
+
+    vec3 e = cross(-dir, ap);
+    v = dot(ac, e) * ood;
+    if (v < 0.0f || v > 1.0f) // ...here...
+        return false;
+    w = -dot(ab, e) * ood;
+    if (w < 0.0f || (v + w) > 1.0f) // ...and here
+        return false;
+
+    u = 1.0f - v - w;
+    if (normal)
+        *normal = n;
+
+	sign = d;
+
+    return true;
+}
+
+
+CUDA_CALLABLE inline bool intersect_ray_tri_rtcd(const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float& t, float& u, float& v, float& w, float& sign, vec3* normal)
+{
+	const vec3 ab = b-a;
+	const vec3 ac = c-a;
+
+	// calculate normal
+	vec3 n = cross(ab, ac);
+
+	// need to solve a system of three equations to give t, u, v
+	float d = dot(-dir, n);
+
+	// if dir is parallel to triangle plane or points away from triangle 
+	if (d <= 0.0f)
+        return false;
+
+	vec3 ap = p-a;
+	t = dot(ap, n);
+
+	// ignores tris behind 
+	if (t < 0.0f)
+		return false;
+
+	// compute barycentric coordinates
+	vec3 e = cross(-dir, ap);
+	v = dot(ac, e);
+	if (v < 0.0f || v > d) return false;
+
+	w = -dot(ab, e);
+	if (w < 0.0f || v + w > d) return false;
+
+	float ood = 1.0f / d;
+	t *= ood;
+	v *= ood;
+	w *= ood;
+	u = 1.0f-v-w;
+
+	// optionally write out normal (todo: this branch is a performance concern, should probably remove)
+	if (normal)
+		*normal = n;
+
+	return true;
+}
+
+#ifndef  __CUDA_ARCH__
+
+// these are provided as built-ins by CUDA
+inline float __int_as_float(int i)
+{
+	return *(float*)(&i);
+}
+
+inline int __float_as_int(float f)
+{
+	return *(int*)(&f);
+}
+
+#endif
+
+
+CUDA_CALLABLE inline float xorf(float x, int y)
+{
+	return __int_as_float(__float_as_int(x) ^ y);
+}
+
+CUDA_CALLABLE inline int sign_mask(float x)
+{
+	return __float_as_int(x) & 0x80000000;
+}
+
+CUDA_CALLABLE inline int max_dim(vec3 a)
+{
+	float x = abs(a[0]);
+	float y = abs(a[1]);
+	float z = abs(a[2]);
+
+	return longest_axis(vec3(x, y, z));
+}
+
+// computes the difference of products a*b - c*d using 
+// FMA instructions for improved numerical precision
+CUDA_CALLABLE inline float diff_product(float a, float b, float c, float d) 
+{
+    float cd = c * d;
+    float diff = fmaf(a, b, -cd);
+    float error = fmaf(-c, d, cd);
+
+    return diff + error;
+}
+
+// http://jcgt.org/published/0002/01/05/
+CUDA_CALLABLE inline bool intersect_ray_tri_woop(const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float& t, float& u, float& v, float& sign, vec3* normal)
+{
+	// todo: precompute for ray
+
+	int kz = max_dim(dir);
+	int kx = kz+1; if (kx == 3) kx = 0;
+	int ky = kx+1; if (ky == 3) ky = 0;
+
+	if (dir[kz] < 0.0f)
+	{
+		float tmp = kx;
+		kx = ky;
+		ky = tmp;
+	}
+
+	float Sx = dir[kx]/dir[kz];
+	float Sy = dir[ky]/dir[kz];
+	float Sz = 1.0f/dir[kz];
+
+	// todo: end precompute
+
+	const vec3 A = a-p;
+	const vec3 B = b-p;
+	const vec3 C = c-p;
+	
+	const float Ax = A[kx] - Sx*A[kz];
+	const float Ay = A[ky] - Sy*A[kz];
+	const float Bx = B[kx] - Sx*B[kz];
+	const float By = B[ky] - Sy*B[kz];
+	const float Cx = C[kx] - Sx*C[kz];
+	const float Cy = C[ky] - Sy*C[kz];
+		
+    float U = diff_product(Cx, By, Cy, Bx);
+    float V = diff_product(Ax, Cy, Ay, Cx);
+    float W = diff_product(Bx, Ay, By, Ax);
+
+	if (U == 0.0f || V == 0.0f || W == 0.0f) 
+	{
+		double CxBy = (double)Cx*(double)By;
+		double CyBx = (double)Cy*(double)Bx;
+		U = (float)(CxBy - CyBx);
+		double AxCy = (double)Ax*(double)Cy;
+		double AyCx = (double)Ay*(double)Cx;
+		V = (float)(AxCy - AyCx);
+		double BxAy = (double)Bx*(double)Ay;
+		double ByAx = (double)By*(double)Ax;
+		W = (float)(BxAy - ByAx);
+	}
+
+	if ((U<0.0f || V<0.0f || W<0.0f) &&	(U>0.0f || V>0.0f || W>0.0f)) 
+    {
+        return false;
+    }
+
+	float det = U+V+W;
+
+	if (det == 0.0f) 
+    {
+		return false;
+    }
+
+	const float Az = Sz*A[kz];
+	const float Bz = Sz*B[kz];
+	const float Cz = Sz*C[kz];
+	const float T = U*Az + V*Bz + W*Cz;
+
+	int det_sign = sign_mask(det);
+	if (xorf(T,det_sign) < 0.0f)// || xorf(T,det_sign) > hit.t * xorf(det, det_sign)) // early out if hit.t is specified
+    {
+		return false;
+    }
+
+	const float rcpDet = 1.0f/det;
+	u = U*rcpDet;
+	v = V*rcpDet;
+	t = T*rcpDet;
+	sign = det;
+	
+	// optionally write out normal (todo: this branch is a performance concern, should probably remove)
+	if (normal)
+	{
+		const vec3 ab = b-a;
+		const vec3 ac = c-a;
+
+		// calculate normal
+		*normal = cross(ab, ac); 
+	}
+
+	return true;
+}
+
+CUDA_CALLABLE inline void adj_intersect_ray_tri_woop(
+    const vec3& p, const vec3& dir, const vec3& a, const vec3& b, const vec3& c, float t, float u, float v, float sign, const vec3& normal,
+    vec3& adj_p, vec3& adj_dir, vec3& adj_a, vec3& adj_b, vec3& adj_c, float& adj_t, float& adj_u, float& adj_v, float& adj_sign, vec3& adj_normal, bool& adj_ret)
+{
+
+	// todo: precompute for ray
+
+	int kz = max_dim(dir);
+	int kx = kz+1; if (kx == 3) kx = 0;
+	int ky = kx+1; if (ky == 3) ky = 0;
+
+	if (dir[kz] < 0.0f)
+	{
+		float tmp = kx;
+		kx = ky;
+		ky = tmp;
+	}
+
+    const float Dx = dir[kx];
+    const float Dy = dir[ky];
+    const float Dz = dir[kz];
+
+	const float Sx = dir[kx]/dir[kz];
+	const float Sy = dir[ky]/dir[kz];
+	const float Sz = 1.0f/dir[kz];
+
+	// todo: end precompute
+
+	const vec3 A = a-p;
+	const vec3 B = b-p;
+	const vec3 C = c-p;
+	
+	const float Ax = A[kx] - Sx*A[kz];
+	const float Ay = A[ky] - Sy*A[kz];
+	const float Bx = B[kx] - Sx*B[kz];
+	const float By = B[ky] - Sy*B[kz];
+	const float Cx = C[kx] - Sx*C[kz];
+	const float Cy = C[ky] - Sy*C[kz];
+		
+	float U = Cx*By - Cy*Bx;
+	float V = Ax*Cy - Ay*Cx;
+	float W = Bx*Ay - By*Ax;
+
+	if (U == 0.0f || V == 0.0f || W == 0.0f) 
+	{
+		double CxBy = (double)Cx*(double)By;
+		double CyBx = (double)Cy*(double)Bx;
+		U = (float)(CxBy - CyBx);
+		double AxCy = (double)Ax*(double)Cy;
+		double AyCx = (double)Ay*(double)Cx;
+		V = (float)(AxCy - AyCx);
+		double BxAy = (double)Bx*(double)Ay;
+		double ByAx = (double)By*(double)Ax;
+		W = (float)(BxAy - ByAx);
+	}
+
+	if ((U<0.0f || V<0.0f || W<0.0f) &&	(U>0.0f || V>0.0f || W>0.0f)) 
+		return;
+
+	float det = U+V+W;
+
+	if (det == 0.0f) 
+		return;
+
+	const float Az = Sz*A[kz];
+	const float Bz = Sz*B[kz];
+	const float Cz = Sz*C[kz];
+	const float T = U*Az + V*Bz + W*Cz;
+
+	int det_sign = sign_mask(det);
+	if (xorf(T,det_sign) < 0.0f)// || xorf(T,det_sign) > hit.t * xorf(det, det_sign)) // early out if hit.t is specified
+		return;
+
+    const float rcpDet = (1.f / det);
+    const float rcpDetSq = rcpDet * rcpDet;
+
+    // adj_p
+
+    const float dAx_dpx = -1.f;
+    const float dBx_dpx = -1.f;
+    const float dCx_dpx = -1.f;
+    const float dAy_dpx = 0.f;
+    const float dBy_dpx = 0.f;
+    const float dCy_dpx = 0.f;
+    const float dAz_dpx = 0.f;
+    const float dBz_dpx = 0.f;
+    const float dCz_dpx = 0.f;
+
+    const float dAx_dpy = 0.f;
+    const float dBx_dpy = 0.f;
+    const float dCx_dpy = 0.f;
+    const float dAy_dpy = -1.f;
+    const float dBy_dpy = -1.f;
+    const float dCy_dpy = -1.f;
+    const float dAz_dpy = 0.f;
+    const float dBz_dpy = 0.f;
+    const float dCz_dpy = 0.f;
+    
+    const float dAx_dpz = Sx;
+    const float dBx_dpz = Sx;
+    const float dCx_dpz = Sx;
+    const float dAy_dpz = Sy;
+    const float dBy_dpz = Sy;
+    const float dCy_dpz = Sy;
+    const float dAz_dpz = -Sz;
+    const float dBz_dpz = -Sz;
+    const float dCz_dpz = -Sz;
+
+    const float dU_dpx = Cx * dBy_dpx + By * dCx_dpx - Cy * dBx_dpx - Bx * dCy_dpx;
+    const float dU_dpy = Cx * dBy_dpy + By * dCx_dpy - Cy * dBx_dpy - Bx * dCy_dpy;
+    const float dU_dpz = Cx * dBy_dpz + By * dCx_dpz - Cy * dBx_dpz - Bx * dCy_dpz;
+    const vec3 dU_dp = vec3(dU_dpx, dU_dpy, dU_dpz);
+
+    const float dV_dpx = Ax * dCy_dpx + Cy * dAx_dpx - Ay * dCx_dpx - Cx * dAy_dpx;
+    const float dV_dpy = Ax * dCy_dpy + Cy * dAx_dpy - Ay * dCx_dpy - Cx * dAy_dpy;
+    const float dV_dpz = Ax * dCy_dpz + Cy * dAx_dpz - Ay * dCx_dpz - Cx * dAy_dpz;
+    const vec3 dV_dp = vec3(dV_dpx, dV_dpy, dV_dpz);
+
+    const float dW_dpx = Bx * dAy_dpx + Ay * dBx_dpx - By * dAx_dpx - Ax * dBy_dpx;
+    const float dW_dpy = Bx * dAy_dpy + Ay * dBx_dpy - By * dAx_dpy - Ax * dBy_dpy;
+    const float dW_dpz = Bx * dAy_dpz + Ay * dBx_dpz - By * dAx_dpz - Ax * dBy_dpz;
+    const vec3 dW_dp = vec3(dW_dpx, dW_dpy, dW_dpz);
+
+    const float dT_dpx = dU_dpx * Az + U * dAz_dpx + dV_dpx * Bz + V * dBz_dpx + dW_dpx * Cz + W * dCz_dpx;
+    const float dT_dpy = dU_dpy * Az + U * dAz_dpy + dV_dpy * Bz + V * dBz_dpy + dW_dpy * Cz + W * dCz_dpy;
+    const float dT_dpz = dU_dpz * Az + U * dAz_dpz + dV_dpz * Bz + V * dBz_dpz + dW_dpz * Cz + W * dCz_dpz;
+    const vec3 dT_dp = vec3(dT_dpx, dT_dpy, dT_dpz);
+
+    const float dDet_dpx = dU_dpx + dV_dpx + dW_dpx;
+    const float dDet_dpy = dU_dpy + dV_dpy + dW_dpy;
+    const float dDet_dpz = dU_dpz + dV_dpz + dW_dpz;
+    const vec3 dDet_dp = vec3(dDet_dpx, dDet_dpy, dDet_dpz);
+
+    const vec3 du_dp = rcpDet * dU_dp + -U * rcpDetSq * dDet_dp;
+    const vec3 dv_dp = rcpDet * dV_dp + -V * rcpDetSq * dDet_dp;
+    const vec3 dt_dp = rcpDet * dT_dp + -T * rcpDetSq * dDet_dp;
+
+    vec3 adj_p_swapped = adj_u*du_dp + adj_v*dv_dp + adj_t*dt_dp;
+    adj_p[kx] += adj_p_swapped[0];
+    adj_p[ky] += adj_p_swapped[1];
+    adj_p[kz] += adj_p_swapped[2];
+
+    // adj_dir
+
+    const float dAx_dDx = -Sz * A[kz];
+    const float dBx_dDx = -Sz * B[kz];
+    const float dCx_dDx = -Sz * C[kz];
+    const float dAy_dDx = 0.f;
+    const float dBy_dDx = 0.f;
+    const float dCy_dDx = 0.f;
+    const float dAz_dDx = 0.f;
+    const float dBz_dDx = 0.f;
+    const float dCz_dDx = 0.f;
+    
+    const float dAx_dDy = 0.f;
+    const float dBx_dDy = 0.f;
+    const float dCx_dDy = 0.f;
+    const float dAy_dDy = -Sz * A[kz];
+    const float dBy_dDy = -Sz * B[kz];
+    const float dCy_dDy = -Sz * C[kz];
+    const float dAz_dDy = 0.f;
+    const float dBz_dDy = 0.f;
+    const float dCz_dDy = 0.f;
+    
+    const float dAx_dDz = Dx * Sz * Sz * A[kz];
+    const float dBx_dDz = Dx * Sz * Sz * B[kz];
+    const float dCx_dDz = Dx * Sz * Sz * C[kz];
+    const float dAy_dDz = Dy * Sz * Sz * A[kz];
+    const float dBy_dDz = Dy * Sz * Sz * B[kz];
+    const float dCy_dDz = Dy * Sz * Sz * C[kz];
+    const float dAz_dDz = -Sz * Sz * A[kz];
+    const float dBz_dDz = -Sz * Sz * B[kz];
+    const float dCz_dDz = -Sz * Sz * C[kz];
+
+    const float dU_dDx = Cx * dBy_dDx + By * dCx_dDx - Cy * dBx_dDx - Bx * dCy_dDx;
+    const float dU_dDy = Cx * dBy_dDy + By * dCx_dDy - Cy * dBx_dDy - Bx * dCy_dDy;
+    const float dU_dDz = Cx * dBy_dDz + By * dCx_dDz - Cy * dBx_dDz - Bx * dCy_dDz;
+    const vec3 dU_dD = vec3(dU_dDx, dU_dDy, dU_dDz);
+
+    const float dV_dDx = Ax * dCy_dDx + Cy * dAx_dDx - Ay * dCx_dDx - Cx * dAy_dDx;
+    const float dV_dDy = Ax * dCy_dDy + Cy * dAx_dDy - Ay * dCx_dDy - Cx * dAy_dDy;
+    const float dV_dDz = Ax * dCy_dDz + Cy * dAx_dDz - Ay * dCx_dDz - Cx * dAy_dDz;
+    const vec3 dV_dD = vec3(dV_dDx, dV_dDy, dV_dDz);
+
+    const float dW_dDx = Bx * dAy_dDx + Ay * dBx_dDx - By * dAx_dDx - Ax * dBy_dDx;
+    const float dW_dDy = Bx * dAy_dDy + Ay * dBx_dDy - By * dAx_dDy - Ax * dBy_dDy;
+    const float dW_dDz = Bx * dAy_dDz + Ay * dBx_dDz - By * dAx_dDz - Ax * dBy_dDz;
+    const vec3 dW_dD = vec3(dW_dDx, dW_dDy, dW_dDz);
+
+    const float dT_dDx = dU_dDx * Az + U * dAz_dDx + dV_dDx * Bz + V * dBz_dDx + dW_dDx * Cz + W * dCz_dDx;
+    const float dT_dDy = dU_dDy * Az + U * dAz_dDy + dV_dDy * Bz + V * dBz_dDy + dW_dDy * Cz + W * dCz_dDy;
+    const float dT_dDz = dU_dDz * Az + U * dAz_dDz + dV_dDz * Bz + V * dBz_dDz + dW_dDz * Cz + W * dCz_dDz;
+    const vec3 dT_dD = vec3(dT_dDx, dT_dDy, dT_dDz);
+
+    const float dDet_dDx = dU_dDx + dV_dDx + dW_dDx;
+    const float dDet_dDy = dU_dDy + dV_dDy + dW_dDy;
+    const float dDet_dDz = dU_dDz + dV_dDz + dW_dDz;
+    const vec3 dDet_dD = vec3(dDet_dDx, dDet_dDy, dDet_dDz);
+
+    const vec3 du_dD = rcpDet * dU_dD + -U * rcpDetSq * dDet_dD;
+    const vec3 dv_dD = rcpDet * dV_dD + -V * rcpDetSq * dDet_dD;
+    const vec3 dt_dD = rcpDet * dT_dD + -T * rcpDetSq * dDet_dD;
+
+    vec3 adj_dir_swapped = adj_u*du_dD + adj_v*dv_dD + adj_t*dt_dD;
+    adj_dir[kx] += adj_dir_swapped[0];
+    adj_dir[ky] += adj_dir_swapped[1];
+    adj_dir[kz] += adj_dir_swapped[2];
+}
+
+// Möller's method
+#include "intersect_tri.h"
+
+CUDA_CALLABLE inline int intersect_tri_tri(
+    vec3& v0, vec3& v1, vec3& v2,
+    vec3& u0, vec3& u1, vec3& u2)
+{
+	return NoDivTriTriIsect(&v0[0], &v1[0], &v2[0], &u0[0], &u1[0], &u2[0]);
+}
+
+CUDA_CALLABLE inline void adj_intersect_tri_tri(const vec3& var_v0,
+												const vec3& var_v1,
+												const vec3& var_v2,
+												const vec3& var_u0,
+												const vec3& var_u1,
+												const vec3& var_u2,
+												vec3& adj_v0,
+												vec3& adj_v1,
+												vec3& adj_v2,
+												vec3& adj_u0,
+												vec3& adj_u1,
+												vec3& adj_u2,
+												int adj_ret) {}
+
+
+CUDA_CALLABLE inline void adj_closest_point_to_triangle(
+	const vec3& var_a, const vec3& var_b, const vec3& var_c, const vec3& var_p,
+	vec3& adj_a, vec3& adj_b, vec3& adj_c, vec3& adj_p, vec2& adj_ret)
+{
+
+    // primal vars
+    vec3 var_0;
+    vec3 var_1;
+    vec3 var_2;
+    float32 var_3;
+    float32 var_4;
+    const float32 var_5 = 0.0;
+    bool var_6;
+    bool var_7;
+    bool var_8;
+    const float32 var_9 = 1.0;
+    vec2 var_10;
+    vec3 var_11;
+    float32 var_12;
+    float32 var_13;
+    bool var_14;
+    bool var_15;
+    bool var_16;
+    vec2 var_17;
+    vec2 var_18;
+    float32 var_19;
+    float32 var_20;
+    float32 var_21;
+    float32 var_22;
+    float32 var_23;
+    bool var_24;
+    bool var_25;
+    bool var_26;
+    bool var_27;
+    float32 var_28;
+    vec2 var_29;
+    vec2 var_30;
+    vec3 var_31;
+    float32 var_32;
+    float32 var_33;
+    bool var_34;
+    bool var_35;
+    bool var_36;
+    vec2 var_37;
+    vec2 var_38;
+    float32 var_39;
+    float32 var_40;
+    float32 var_41;
+    float32 var_42;
+    float32 var_43;
+    bool var_44;
+    bool var_45;
+    bool var_46;
+    bool var_47;
+    float32 var_48;
+    vec2 var_49;
+    vec2 var_50;
+    float32 var_51;
+    float32 var_52;
+    float32 var_53;
+    float32 var_54;
+    float32 var_55;
+    float32 var_56;
+    float32 var_57;
+    float32 var_58;
+    bool var_59;
+    float32 var_60;
+    bool var_61;
+    float32 var_62;
+    bool var_63;
+    bool var_64;
+    float32 var_65;
+    vec2 var_66;
+    // vec2 var_67;
+    float32 var_68;
+    float32 var_69;
+    float32 var_70;
+    float32 var_71;
+    float32 var_72;
+    float32 var_73;
+    float32 var_74;
+    // vec2 var_75;
+    //---------
+    // dual vars
+    vec3 adj_0 = 0;
+    vec3 adj_1 = 0;
+    vec3 adj_2 = 0;
+    float32 adj_3 = 0;
+    float32 adj_4 = 0;
+    float32 adj_5 = 0;
+    //bool adj_6 = 0;
+    //bool adj_7 = 0;
+    //bool adj_8 = 0;
+    float32 adj_9 = 0;
+    vec2 adj_10 = 0;
+    vec3 adj_11 = 0;
+    float32 adj_12 = 0;
+    float32 adj_13 = 0;
+    //bool adj_14 = 0;
+    //bool adj_15 = 0;
+    bool adj_16 = 0;
+    vec2 adj_17 = 0;
+    vec2 adj_18 = 0;
+    float32 adj_19 = 0;
+    float32 adj_20 = 0;
+    float32 adj_21 = 0;
+    float32 adj_22 = 0;
+    float32 adj_23 = 0;
+    //bool adj_24 = 0;
+    //bool adj_25 = 0;
+    //bool adj_26 = 0;
+    bool adj_27 = 0;
+    float32 adj_28 = 0;
+    vec2 adj_29 = 0;
+    vec2 adj_30 = 0;
+    vec3 adj_31 = 0;
+    float32 adj_32 = 0;
+    float32 adj_33 = 0;
+    //bool adj_34 = 0;
+    //bool adj_35 = 0;
+    bool adj_36 = 0;
+    vec2 adj_37 = 0;
+    vec2 adj_38 = 0;
+    float32 adj_39 = 0;
+    float32 adj_40 = 0;
+    float32 adj_41 = 0;
+    float32 adj_42 = 0;
+    float32 adj_43 = 0;
+    //bool adj_44 = 0;
+    //bool adj_45 = 0;
+    //bool adj_46 = 0;
+    bool adj_47 = 0;
+    float32 adj_48 = 0;
+    vec2 adj_49 = 0;
+    vec2 adj_50 = 0;
+    float32 adj_51 = 0;
+    float32 adj_52 = 0;
+    float32 adj_53 = 0;
+    float32 adj_54 = 0;
+    float32 adj_55 = 0;
+    float32 adj_56 = 0;
+    float32 adj_57 = 0;
+    float32 adj_58 = 0;
+    //bool adj_59 = 0;
+    float32 adj_60 = 0;
+    //bool adj_61 = 0;
+    float32 adj_62 = 0;
+    //bool adj_63 = 0;
+    bool adj_64 = 0;
+    float32 adj_65 = 0;
+    vec2 adj_66 = 0;
+    vec2 adj_67 = 0;
+    float32 adj_68 = 0;
+    float32 adj_69 = 0;
+    float32 adj_70 = 0;
+    float32 adj_71 = 0;
+    float32 adj_72 = 0;
+    float32 adj_73 = 0;
+    float32 adj_74 = 0;
+    vec2 adj_75 = 0;
+    //---------
+    // forward
+    var_0 = wp::sub(var_b, var_a);
+    var_1 = wp::sub(var_c, var_a);
+    var_2 = wp::sub(var_p, var_a);
+    var_3 = wp::dot(var_0, var_2);
+    var_4 = wp::dot(var_1, var_2);
+    var_6 = (var_3 <= var_5);
+    var_7 = (var_4 <= var_5);
+    var_8 = var_6 && var_7;
+    if (var_8) {
+    	var_10 = wp::vec2(var_9, var_5);
+    	goto label0;
+    }
+    var_11 = wp::sub(var_p, var_b);
+    var_12 = wp::dot(var_0, var_11);
+    var_13 = wp::dot(var_1, var_11);
+    var_14 = (var_12 >= var_5);
+    var_15 = (var_13 <= var_12);
+    var_16 = var_14 && var_15;
+    if (var_16) {
+    	var_17 = wp::vec2(var_5, var_9);
+    	goto label1;
+    }
+    var_18 = wp::select(var_16, var_10, var_17);
+    var_19 = wp::mul(var_3, var_13);
+    var_20 = wp::mul(var_12, var_4);
+    var_21 = wp::sub(var_19, var_20);
+    var_22 = wp::sub(var_3, var_12);
+    var_23 = wp::div(var_3, var_22);
+    var_24 = (var_21 <= var_5);
+    var_25 = (var_3 >= var_5);
+    var_26 = (var_12 <= var_5);
+    var_27 = var_24 && var_25 && var_26;
+    if (var_27) {
+    	var_28 = wp::sub(var_9, var_23);
+    	var_29 = wp::vec2(var_28, var_23);
+    	goto label2;
+    }
+    var_30 = wp::select(var_27, var_18, var_29);
+    var_31 = wp::sub(var_p, var_c);
+    var_32 = wp::dot(var_0, var_31);
+    var_33 = wp::dot(var_1, var_31);
+    var_34 = (var_33 >= var_5);
+    var_35 = (var_32 <= var_33);
+    var_36 = var_34 && var_35;
+    if (var_36) {
+    	var_37 = wp::vec2(var_5, var_5);
+    	goto label3;
+    }
+    var_38 = wp::select(var_36, var_30, var_37);
+    var_39 = wp::mul(var_32, var_4);
+    var_40 = wp::mul(var_3, var_33);
+    var_41 = wp::sub(var_39, var_40);
+    var_42 = wp::sub(var_4, var_33);
+    var_43 = wp::div(var_4, var_42);
+    var_44 = (var_41 <= var_5);
+    var_45 = (var_4 >= var_5);
+    var_46 = (var_33 <= var_5);
+    var_47 = var_44 && var_45 && var_46;
+    if (var_47) {
+    	var_48 = wp::sub(var_9, var_43);
+    	var_49 = wp::vec2(var_48, var_5);
+    	goto label4;
+    }
+    var_50 = wp::select(var_47, var_38, var_49);
+    var_51 = wp::mul(var_12, var_33);
+    var_52 = wp::mul(var_32, var_13);
+    var_53 = wp::sub(var_51, var_52);
+    var_54 = wp::sub(var_13, var_12);
+    var_55 = wp::sub(var_13, var_12);
+    var_56 = wp::sub(var_32, var_33);
+    var_57 = wp::add(var_55, var_56);
+    var_58 = wp::div(var_54, var_57);
+    var_59 = (var_53 <= var_5);
+    var_60 = wp::sub(var_13, var_12);
+    var_61 = (var_60 >= var_5);
+    var_62 = wp::sub(var_32, var_33);
+    var_63 = (var_62 >= var_5);
+    var_64 = var_59 && var_61 && var_63;
+    if (var_64) {
+    	var_65 = wp::sub(var_9, var_58);
+    	var_66 = wp::vec2(var_5, var_65);
+    	goto label5;
+    }
+    // var_67 = wp::select(var_64, var_50, var_66);
+    var_68 = wp::add(var_53, var_41);
+    var_69 = wp::add(var_68, var_21);
+    var_70 = wp::div(var_9, var_69);
+    var_71 = wp::mul(var_41, var_70);
+    var_72 = wp::mul(var_21, var_70);
+    var_73 = wp::sub(var_9, var_71);
+    var_74 = wp::sub(var_73, var_72);
+    // var_75 = wp::vec2(var_74, var_71);
+    goto label6;
+    //---------
+    // reverse
+    label6:;
+    adj_75 += adj_ret;
+    wp::adj_vec2(var_74, var_71, adj_74, adj_71, adj_75);
+    wp::adj_sub(var_73, var_72, adj_73, adj_72, adj_74);
+    wp::adj_sub(var_9, var_71, adj_9, adj_71, adj_73);
+    wp::adj_mul(var_21, var_70, adj_21, adj_70, adj_72);
+    wp::adj_mul(var_41, var_70, adj_41, adj_70, adj_71);
+    wp::adj_div(var_9, var_69, var_70, adj_9, adj_69, adj_70);
+    wp::adj_add(var_68, var_21, adj_68, adj_21, adj_69);
+    wp::adj_add(var_53, var_41, adj_53, adj_41, adj_68);
+    wp::adj_select(var_64, var_50, var_66, adj_64, adj_50, adj_66, adj_67);
+    if (var_64) {
+    	label5:;
+    	adj_66 += adj_ret;
+    	wp::adj_vec2(var_5, var_65, adj_5, adj_65, adj_66);
+    	wp::adj_sub(var_9, var_58, adj_9, adj_58, adj_65);
+    }
+    wp::adj_sub(var_32, var_33, adj_32, adj_33, adj_62);
+    wp::adj_sub(var_13, var_12, adj_13, adj_12, adj_60);
+    wp::adj_div(var_54, var_57, var_58, adj_54, adj_57, adj_58);
+    wp::adj_add(var_55, var_56, adj_55, adj_56, adj_57);
+    wp::adj_sub(var_32, var_33, adj_32, adj_33, adj_56);
+    wp::adj_sub(var_13, var_12, adj_13, adj_12, adj_55);
+    wp::adj_sub(var_13, var_12, adj_13, adj_12, adj_54);
+    wp::adj_sub(var_51, var_52, adj_51, adj_52, adj_53);
+    wp::adj_mul(var_32, var_13, adj_32, adj_13, adj_52);
+    wp::adj_mul(var_12, var_33, adj_12, adj_33, adj_51);
+    wp::adj_select(var_47, var_38, var_49, adj_47, adj_38, adj_49, adj_50);
+    if (var_47) {
+    	label4:;
+    	adj_49 += adj_ret;
+    	wp::adj_vec2(var_48, var_5, adj_48, adj_5, adj_49);
+    	wp::adj_sub(var_9, var_43, adj_9, adj_43, adj_48);
+    }
+    wp::adj_div(var_4, var_42, var_43, adj_4, adj_42, adj_43);
+    wp::adj_sub(var_4, var_33, adj_4, adj_33, adj_42);
+    wp::adj_sub(var_39, var_40, adj_39, adj_40, adj_41);
+    wp::adj_mul(var_3, var_33, adj_3, adj_33, adj_40);
+    wp::adj_mul(var_32, var_4, adj_32, adj_4, adj_39);
+    wp::adj_select(var_36, var_30, var_37, adj_36, adj_30, adj_37, adj_38);
+    if (var_36) {
+    	label3:;
+    	adj_37 += adj_ret;
+    	wp::adj_vec2(var_5, var_5, adj_5, adj_5, adj_37);
+    }
+    wp::adj_dot(var_1, var_31, adj_1, adj_31, adj_33);
+    wp::adj_dot(var_0, var_31, adj_0, adj_31, adj_32);
+    wp::adj_sub(var_p, var_c, adj_p, adj_c, adj_31);
+    wp::adj_select(var_27, var_18, var_29, adj_27, adj_18, adj_29, adj_30);
+    if (var_27) {
+    	label2:;
+    	adj_29 += adj_ret;
+    	wp::adj_vec2(var_28, var_23, adj_28, adj_23, adj_29);
+    	wp::adj_sub(var_9, var_23, adj_9, adj_23, adj_28);
+    }
+    wp::adj_div(var_3, var_22, var_23, adj_3, adj_22, adj_23);
+    wp::adj_sub(var_3, var_12, adj_3, adj_12, adj_22);
+    wp::adj_sub(var_19, var_20, adj_19, adj_20, adj_21);
+    wp::adj_mul(var_12, var_4, adj_12, adj_4, adj_20);
+    wp::adj_mul(var_3, var_13, adj_3, adj_13, adj_19);
+    wp::adj_select(var_16, var_10, var_17, adj_16, adj_10, adj_17, adj_18);
+    if (var_16) {
+    	label1:;
+    	adj_17 += adj_ret;
+    	wp::adj_vec2(var_5, var_9, adj_5, adj_9, adj_17);
+    }
+    wp::adj_dot(var_1, var_11, adj_1, adj_11, adj_13);
+    wp::adj_dot(var_0, var_11, adj_0, adj_11, adj_12);
+    wp::adj_sub(var_p, var_b, adj_p, adj_b, adj_11);
+    if (var_8) {
+    	label0:;
+    	adj_10 += adj_ret;
+    	wp::adj_vec2(var_9, var_5, adj_9, adj_5, adj_10);
+    }
+    wp::adj_dot(var_1, var_2, adj_1, adj_2, adj_4);
+    wp::adj_dot(var_0, var_2, adj_0, adj_2, adj_3);
+    wp::adj_sub(var_p, var_a, adj_p, adj_a, adj_2);
+    wp::adj_sub(var_c, var_a, adj_c, adj_a, adj_1);
+    wp::adj_sub(var_b, var_a, adj_b, adj_a, adj_0);
+    return;
+
+}
+
+
+    
+// ----------------------------------------------------------------
+// jleaf: I needed to replace "float(" with "cast_float(" manually below because 
+// "#define float(x) cast_float(x)"" in this header affects other files.
+// See adjoint in "intersect_adj.h" for the generated adjoint.
+/* 
+  Here is the original warp implementation that was used to generate this code:
+
+# https://books.google.ca/books?id=WGpL6Sk9qNAC&printsec=frontcover&hl=en#v=onepage&q=triangle&f=false
+# From 5.1.9
+# p1 and q1 are points of edge 1.
+# p2 and q2 are points of edge 2.
+# epsilon zero tolerance for determining if points in an edge are degenerate
+# output: A single wp.vec3, containing s and t for edges 1 and 2 respectively,
+# and the distance between their closest points.
+@wp.func
+def closest_point_edge_edge(
+    p1: wp.vec3, q1: wp.vec3, p2: wp.vec3, q2: wp.vec3, epsilon: float
+):
+    # direction vectors of each segment/edge
+    d1 = q1 - p1
+    d2 = q2 - p2
+    r = p1 - p2
+
+    a = wp.dot(d1, d1)  # squared length of segment s1, always nonnegative
+    e = wp.dot(d2, d2)  # squared length of segment s2, always nonnegative
+    f = wp.dot(d2, r)
+
+    s = float(0.0)
+    t = float(0.0)
+    dist = wp.length(p2 - p1)
+
+    # Check if either or both segments degenerate into points
+    if a <= epsilon and e <= epsilon:
+        # both segments degenerate into points
+        return wp.vec3(s, t, dist)
+
+    if a <= epsilon:
+        s = float(0.0)
+        t = float(f / e)  # s = 0 => t = (b*s + f) / e = f / e
+    else:
+        c = wp.dot(d1, r)
+        if e <= epsilon:
+            # second segment generates into a point
+            s = wp.clamp(-c / a, 0.0, 1.0)  # t = 0 => s = (b*t-c)/a = -c/a
+            t = float(0.0)
+        else:
+            # The general nondegenerate case starts here
+            b = wp.dot(d1, d2)
+            denom = a * e - b * b  # always nonnegative
+
+            # if segments not parallel, compute closest point on L1 to L2 and
+            # clamp to segment S1. Else pick arbitrary s (here 0)
+            if denom != 0.0:
+                s = wp.clamp((b * f - c * e) / denom, 0.0, 1.0)
+            else:
+                s = 0.0
+
+            # compute point on L2 closest to S1(s) using
+            # t = dot((p1+d2*s) - p2,d2)/dot(d2,d2) = (b*s+f)/e
+            t = (b * s + f) / e
+
+            # if t in [0,1] done. Else clamp t, recompute s for the new value
+            # of t using s = dot((p2+d2*t-p1,d1)/dot(d1,d1) = (t*b - c)/a
+            # and clamp s to [0,1]
+            if t < 0.0:
+                t = 0.0
+                s = wp.clamp(-c / a, 0.0, 1.0)
+            elif t > 1.0:
+                t = 1.0
+                s = wp.clamp((b - c) / a, 0.0, 1.0)
+
+    c1 = p1 + (q1 - p1) * s
+    c2 = p2 + (q2 - p2) * t
+    dist = wp.length(c2 - c1)
+    return wp.vec3(s, t, dist)
+
+*/
+
+static CUDA_CALLABLE vec3 closest_point_edge_edge(vec3 var_p1,
+	vec3 var_q1,
+	vec3 var_p2,
+	vec3 var_q2,
+	float32 var_epsilon)
+{
+    //---------
+    // primal vars
+    vec3 var_0;
+    vec3 var_1;
+    vec3 var_2;
+    float32 var_3;
+    float32 var_4;
+    float32 var_5;
+    const float32 var_6 = 0.0;
+    float32 var_7;
+    float32 var_8;
+    vec3 var_9;
+    float32 var_10;
+    bool var_11;
+    bool var_12;
+    bool var_13;
+    vec3 var_14;
+    bool var_15;
+    float32 var_16;
+    float32 var_17;
+    float32 var_18;
+    float32 var_19;
+    float32 var_20;
+    float32 var_21;
+    bool var_22;
+    float32 var_23;
+    float32 var_24;
+    const float32 var_25 = 1.0;
+    float32 var_26;
+    float32 var_27;
+    float32 var_28;
+    float32 var_29;
+    float32 var_30;
+    float32 var_31;
+    float32 var_32;
+    float32 var_33;
+    bool var_34;
+    float32 var_35;
+    float32 var_36;
+    float32 var_37;
+    float32 var_38;
+    float32 var_39;
+    float32 var_40;
+    float32 var_41;
+    float32 var_42;
+    float32 var_43;
+    float32 var_44;
+    bool var_45;
+    float32 var_46;
+    float32 var_47;
+    float32 var_48;
+    float32 var_49;
+    float32 var_50;
+    bool var_51;
+    float32 var_52;
+    float32 var_53;
+    float32 var_54;
+    float32 var_55;
+    float32 var_56;
+    float32 var_57;
+    float32 var_58;
+    float32 var_59;
+    float32 var_60;
+    float32 var_61;
+    float32 var_62;
+    vec3 var_63;
+    vec3 var_64;
+    vec3 var_65;
+    vec3 var_66;
+    vec3 var_67;
+    vec3 var_68;
+    vec3 var_69;
+    float32 var_70;
+    vec3 var_71;
+    //---------
+    // forward
+    var_0 = wp::sub(var_q1, var_p1);
+    var_1 = wp::sub(var_q2, var_p2);
+    var_2 = wp::sub(var_p1, var_p2);
+    var_3 = wp::dot(var_0, var_0);
+    var_4 = wp::dot(var_1, var_1);
+    var_5 = wp::dot(var_1, var_2);
+    var_7 = wp::cast_float(var_6);
+    var_8 = wp::cast_float(var_6);
+    var_9 = wp::sub(var_p2, var_p1);
+    var_10 = wp::length(var_9);
+    var_11 = (var_3 <= var_epsilon);
+    var_12 = (var_4 <= var_epsilon);
+    var_13 = var_11 && var_12;
+    if (var_13) {
+    	var_14 = wp::vec3(var_7, var_8, var_10);
+    	return var_14;
+    }
+    var_15 = (var_3 <= var_epsilon);
+    if (var_15) {
+    	var_16 = wp::cast_float(var_6);
+    	var_17 = wp::div(var_5, var_4);
+    	var_18 = wp::cast_float(var_17);
+    }
+    var_19 = wp::select(var_15, var_7, var_16);
+    var_20 = wp::select(var_15, var_8, var_18);
+    if (!var_15) {
+    	var_21 = wp::dot(var_0, var_2);
+    	var_22 = (var_4 <= var_epsilon);
+    	if (var_22) {
+    		var_23 = wp::neg(var_21);
+    		var_24 = wp::div(var_23, var_3);
+    		var_26 = wp::clamp(var_24, var_6, var_25);
+    		var_27 = wp::cast_float(var_6);
+    	}
+    	var_28 = wp::select(var_22, var_19, var_26);
+    	var_29 = wp::select(var_22, var_20, var_27);
+    	if (!var_22) {
+    		var_30 = wp::dot(var_0, var_1);
+    		var_31 = wp::mul(var_3, var_4);
+    		var_32 = wp::mul(var_30, var_30);
+    		var_33 = wp::sub(var_31, var_32);
+    		var_34 = (var_33 != var_6);
+    		if (var_34) {
+    			var_35 = wp::mul(var_30, var_5);
+    			var_36 = wp::mul(var_21, var_4);
+    			var_37 = wp::sub(var_35, var_36);
+    			var_38 = wp::div(var_37, var_33);
+    			var_39 = wp::clamp(var_38, var_6, var_25);
+    		}
+    		var_40 = wp::select(var_34, var_28, var_39);
+    		if (!var_34) {
+    		}
+    		var_41 = wp::select(var_34, var_6, var_40);
+    		var_42 = wp::mul(var_30, var_41);
+    		var_43 = wp::add(var_42, var_5);
+    		var_44 = wp::div(var_43, var_4);
+    		var_45 = (var_44 < var_6);
+    		if (var_45) {
+    			var_46 = wp::neg(var_21);
+    			var_47 = wp::div(var_46, var_3);
+    			var_48 = wp::clamp(var_47, var_6, var_25);
+    		}
+    		var_49 = wp::select(var_45, var_41, var_48);
+    		var_50 = wp::select(var_45, var_44, var_6);
+    		if (!var_45) {
+    			var_51 = (var_50 > var_25);
+    			if (var_51) {
+    				var_52 = wp::sub(var_30, var_21);
+    				var_53 = wp::div(var_52, var_3);
+    				var_54 = wp::clamp(var_53, var_6, var_25);
+    			}
+    			var_55 = wp::select(var_51, var_49, var_54);
+    			var_56 = wp::select(var_51, var_50, var_25);
+    		}
+    		var_57 = wp::select(var_45, var_55, var_49);
+    		var_58 = wp::select(var_45, var_56, var_50);
+    	}
+    	var_59 = wp::select(var_22, var_57, var_28);
+    	var_60 = wp::select(var_22, var_58, var_29);
+    }
+    var_61 = wp::select(var_15, var_59, var_19);
+    var_62 = wp::select(var_15, var_60, var_20);
+    var_63 = wp::sub(var_q1, var_p1);
+    var_64 = wp::mul(var_63, var_61);
+    var_65 = wp::add(var_p1, var_64);
+    var_66 = wp::sub(var_q2, var_p2);
+    var_67 = wp::mul(var_66, var_62);
+    var_68 = wp::add(var_p2, var_67);
+    var_69 = wp::sub(var_68, var_65);
+    var_70 = wp::length(var_69);
+    var_71 = wp::vec3(var_61, var_62, var_70);
+    return var_71;
+
+}
+} // namespace wp