warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/native/mesh.h

@@ -0,0 +1,1980 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "builtin.h"
+#include "bvh.h"
+#include "intersect.h"
+#include "array.h"
+#include "solid_angle.h"
+
+#define BVH_DEBUG 0
+
+namespace wp
+{
+
+struct Mesh
+{
+    array_t<vec3> points;
+    array_t<vec3> velocities;
+
+    array_t<int> indices;
+
+    vec3* lowers;
+    vec3* uppers;
+
+    SolidAngleProps* solid_angle_props;
+
+    int num_points;
+    int num_tris;
+
+    BVH bvh;
+
+    void* context;
+    float average_edge_length;
+
+    inline CUDA_CALLABLE Mesh(int id = 0) 
+    {
+        // for backward a = 0 initialization syntax
+        lowers = nullptr;
+        uppers = nullptr;
+        num_points = 0;
+        num_tris = 0;
+        context = nullptr;
+        solid_angle_props = nullptr;	
+        average_edge_length = 0.0f;
+    }
+
+    inline CUDA_CALLABLE Mesh(
+        array_t<vec3> points,
+        array_t<vec3> velocities,
+        array_t<int> indices,
+        int num_points,
+        int num_tris,
+        void* context = nullptr
+    ) : points(points), velocities(velocities), indices(indices), num_points(num_points), num_tris(num_tris), context(context)
+    {
+        lowers = nullptr;
+        uppers = nullptr;
+        solid_angle_props = nullptr;
+        average_edge_length = 0.0f;
+    }
+};
+
+CUDA_CALLABLE inline Mesh mesh_get(uint64_t id)
+{
+    return *(Mesh*)(id);
+}
+
+
+CUDA_CALLABLE inline Mesh& operator += (Mesh& a, const Mesh& b) {
+    // dummy operator needed for adj_select involving meshes
+    return a;
+}
+
+CUDA_CALLABLE inline float distance_to_aabb_sq(const vec3& p, const vec3& lower, const vec3& upper)
+{
+    const float dx = min(upper[0], max(lower[0], p[0])) - p[0];
+    const float dy = min(upper[1], max(lower[1], p[1])) - p[1];
+    const float dz = min(upper[2], max(lower[2], p[2])) - p[2];
+    return dx * dx + dy * dy + dz * dz;
+}
+
+CUDA_CALLABLE inline float furthest_distance_to_aabb_sq(const vec3& p, const vec3& lower, const vec3& upper)
+{
+    // X-axis
+    float dist_lower_x = fabs(p[0] - lower[0]);
+    float dist_upper_x = fabs(p[0] - upper[0]);
+    float corner_diff_x = (dist_lower_x > dist_upper_x) ? dist_lower_x : dist_upper_x;
+
+    // Y-axis
+    float dist_lower_y = fabs(p[1] - lower[1]);
+    float dist_upper_y = fabs(p[1] - upper[1]);
+    float corner_diff_y = (dist_lower_y > dist_upper_y) ? dist_lower_y : dist_upper_y;
+
+    // Z-axis
+    float dist_lower_z = fabs(p[2] - lower[2]);
+    float dist_upper_z = fabs(p[2] - upper[2]);
+    float corner_diff_z = (dist_lower_z > dist_upper_z) ? dist_lower_z : dist_upper_z;
+
+    // Calculate and return the distance
+    return corner_diff_x* corner_diff_x + corner_diff_y * corner_diff_y + corner_diff_z * corner_diff_z;
+}
+
+CUDA_CALLABLE inline float mesh_query_inside(uint64_t id, const vec3& p);
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = max_dist*max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+    
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            const int start = left_index;
+            const int end = right_index;
+            // loops through primitives in the leaf
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                int i = mesh.indices[primitive_index * 3 + 0];
+                int j = mesh.indices[primitive_index * 3 + 1];
+                int k = mesh.indices[primitive_index * 3 + 2];
+
+                vec3 p = mesh.points[i];
+                vec3 q = mesh.points[j];
+                vec3 r = mesh.points[k];
+
+                vec3 e0 = q - p;
+                vec3 e1 = r - p;
+                vec3 e2 = r - q;
+                vec3 normal = cross(e0, e1);
+
+                // sliver detection
+                if (length(normal) / (dot(e0, e0) + dot(e1, e1) + dot(e2, e2)) < 1.e-6f)
+                    continue;
+
+                vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+                float u = barycentric[0];
+                float v = barycentric[1];
+                float w = 1.f - u - v;
+                vec3 c = u * p + v * q + w * r;
+
+                float dist_sq = length_sq(c - point);
+
+                if (dist_sq < min_dist_sq)
+                {
+                    min_dist_sq = dist_sq;
+                    min_v = v;
+                    min_w = w;
+                    min_face = primitive_index;
+                }
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = bvh_load_node(mesh.bvh.node_lowers, left_index);
+            BVHPackedNodeHalf left_upper = bvh_load_node(mesh.bvh.node_uppers, left_index);
+
+            BVHPackedNodeHalf right_lower = bvh_load_node(mesh.bvh.node_lowers, right_index);
+            BVHPackedNodeHalf right_upper = bvh_load_node(mesh.bvh.node_uppers, right_index);
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            wp::vec2i child_indices;
+            wp::vec2 child_dist;
+            if (left_dist_sq < right_dist_sq)
+            {
+                child_indices = wp::vec2i(right_index, left_index);
+                child_dist = wp::vec2(right_dist_sq, left_dist_sq);
+            }
+            else
+            {
+                child_indices = wp::vec2i(left_index, right_index);
+                child_dist = wp::vec2(left_dist_sq, right_dist_sq);
+            }
+
+            if (child_dist[0] < min_dist_sq)
+                stack[count++] = child_indices[0];
+
+            if (child_dist[1] < min_dist_sq)
+                stack[count++] = child_indices[1];
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq < max_dist*max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        // determine inside outside using ray-cast parity check
+        inside = mesh_query_inside(id, point);
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, int& face, float& u, float& v)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = max_dist*max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {
+            const int start = left_index;
+            const int end = right_index;
+            // loops through primitives in the leaf
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                int i = mesh.indices[primitive_index * 3 + 0];
+                int j = mesh.indices[primitive_index * 3 + 1];
+                int k = mesh.indices[primitive_index * 3 + 2];
+
+                vec3 p = mesh.points[i];
+                vec3 q = mesh.points[j];
+                vec3 r = mesh.points[k];
+                vec3 e0 = q - p;
+                vec3 e1 = r - p;
+                vec3 e2 = r - q;
+                vec3 normal = cross(e0, e1);
+
+                // sliver detection
+                if (length(normal) / (dot(e0, e0) + dot(e1, e1) + dot(e2, e2)) < 1.e-6f)
+                    continue;
+
+                vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+                float u = barycentric[0];
+                float v = barycentric[1];
+                float w = 1.f - u - v;
+                vec3 c = u * p + v * q + w * r;
+
+                float dist_sq = length_sq(c - point);
+
+                if (dist_sq < min_dist_sq)
+                {
+                    min_dist_sq = dist_sq;
+                    min_v = v;
+                    min_w = w;
+                    min_face = primitive_index;
+                }
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = bvh_load_node(mesh.bvh.node_lowers, left_index);
+            BVHPackedNodeHalf left_upper = bvh_load_node(mesh.bvh.node_uppers, left_index);
+
+            BVHPackedNodeHalf right_lower = bvh_load_node(mesh.bvh.node_lowers, right_index);
+            BVHPackedNodeHalf right_upper = bvh_load_node(mesh.bvh.node_uppers, right_index);
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            wp::vec2i child_indices;
+            wp::vec2 child_dist;
+            if (left_dist_sq < right_dist_sq)
+            {
+                child_indices = wp::vec2i(right_index, left_index);
+                child_dist = wp::vec2(right_dist_sq, left_dist_sq);
+            }
+            else
+            {
+                child_indices = wp::vec2i(left_index, right_index);
+                child_dist = wp::vec2(left_dist_sq, right_dist_sq);
+            }
+
+            if (child_dist[0] < min_dist_sq)
+                stack[count++] = child_indices[0];
+
+            if (child_dist[1] < min_dist_sq)
+                stack[count++] = child_indices[1];
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq < max_dist*max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+// returns true if there is a point (strictly) > distance min_dist
+CUDA_CALLABLE inline bool mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, int& face, float& u, float& v)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = min_dist*min_dist;
+    int max_face;
+    float max_v;
+    float max_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+    
+        // re-test distance
+        float node_dist_sq = furthest_distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        
+        // if maximum distance to this node is less than our existing furthest max then skip
+        if (node_dist_sq < min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            const int start = left_index;
+            const int end = right_index;
+            // loops through primitives in the leaf
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                int i = mesh.indices[primitive_index * 3 + 0];
+                int j = mesh.indices[primitive_index * 3 + 1];
+                int k = mesh.indices[primitive_index * 3 + 2];
+
+                vec3 p = mesh.points[i];
+                vec3 q = mesh.points[j];
+                vec3 r = mesh.points[k];
+            
+                vec3 e0 = q-p;
+                vec3 e1 = r-p;
+                vec3 e2 = r-q;
+                vec3 normal = cross(e0, e1);
+            
+                // sliver detection
+                if (length(normal)/(dot(e0,e0) + dot(e1,e1) + dot(e2,e2)) < 1.e-6f)
+                    continue;
+
+                vec2 barycentric = furthest_point_to_triangle(p, q, r, point);
+                float u = barycentric[0];
+                float v = barycentric[1];
+                float w = 1.f - u - v;
+                vec3 c = u*p + v*q + w*r;
+
+                float dist_sq = length_sq(c-point);
+
+                if (dist_sq > min_dist_sq)
+                {
+                    min_dist_sq = dist_sq;
+                    max_v = v;
+                    max_w = w;
+                    max_face = primitive_index;
+                }
+            }
+
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) > max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = bvh_load_node(mesh.bvh.node_lowers, left_index);
+            BVHPackedNodeHalf left_upper = bvh_load_node(mesh.bvh.node_uppers, left_index);
+
+            BVHPackedNodeHalf right_lower = bvh_load_node(mesh.bvh.node_lowers, right_index);
+            BVHPackedNodeHalf right_upper = bvh_load_node(mesh.bvh.node_uppers, right_index);
+
+            float left_dist_sq = furthest_distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = furthest_distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            wp::vec2i child_indices;
+            wp::vec2 child_dist;
+            if (left_dist_sq > right_dist_sq)
+            {
+                child_indices = wp::vec2i(right_index, left_index);
+                child_dist = wp::vec2(right_dist_sq, left_dist_sq);
+            }
+            else
+            {
+                child_indices = wp::vec2i(left_index, right_index);
+                child_dist = wp::vec2(left_dist_sq, right_dist_sq);
+            }
+
+            if (child_dist[0] > min_dist_sq)
+                stack[count++] = child_indices[0];
+
+            if (child_dist[1] > min_dist_sq)
+                stack[count++] = child_indices[1];
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq > min_dist*min_dist)
+    {
+        u = 1.0f - max_v - max_w;
+        v = max_v;
+        face = max_face;
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v, const float epsilon = 1e-3f)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;
+    int count = 1;
+    float min_dist = max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+    vec3 accumulated_angle_weighted_normal;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+    float epsilon_min_dist = mesh.average_edge_length * epsilon;
+    float epsilon_min_dist_sq = epsilon_min_dist*epsilon_min_dist;
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > (min_dist + epsilon_min_dist)*(min_dist + epsilon_min_dist))
+        {
+#if BVH_DEBUG
+            secondary_culls++;
+#endif
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {
+            const int start = left_index;
+            const int end = right_index;
+            // loops through primitives in the leaf
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                int i = mesh.indices[primitive_index * 3 + 0];
+                int j = mesh.indices[primitive_index * 3 + 1];
+                int k = mesh.indices[primitive_index * 3 + 2];
+
+                vec3 p = mesh.points[i];
+                vec3 q = mesh.points[j];
+                vec3 r = mesh.points[k];
+
+                vec3 e0 = q-p;
+                vec3 e1 = r-p;
+                vec3 e2 = r-q;
+                vec3 normal = cross(e0, e1);
+
+                // sliver detection
+                float e0_norm_sq = dot(e0,e0);
+                float e1_norm_sq = dot(e1,e1);
+                float e2_norm_sq = dot(e2,e2);
+                if (length(normal)/(e0_norm_sq + e1_norm_sq + e2_norm_sq) < 1.e-6f)
+                    continue;
+
+                vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+                float u = barycentric[0];
+                float v = barycentric[1];
+                float w = 1.f - u - v;
+                vec3 c = u*p + v*q + w*r;
+                float dist = sqrtf(length_sq(c-point));
+                if (dist < min_dist + epsilon_min_dist)
+                {
+                    float weight = 0.0f;
+                    vec3 cp = c - p;
+                    vec3 cq = c - q;
+                    vec3 cr = c - r;
+                    float len_cp_sq = length_sq(cp);
+                    float len_cq_sq = length_sq(cq);
+                    float len_cr_sq = length_sq(cr);
+
+                    // Check if near vertex
+                    if (len_cp_sq < epsilon_min_dist_sq)
+                    {
+                        // Vertex 0 is the closest feature
+                        weight = acosf(dot(normalize(e0), normalize(e1)));
+                    }
+                    else
+                        if (len_cq_sq < epsilon_min_dist_sq)
+                        {
+                            // Vertex 1 is the closest feature
+                            weight = acosf(dot(normalize(e2), normalize(-e0)));
+                        }
+                        else
+                            if (len_cr_sq < epsilon_min_dist_sq)
+                            {
+                                // Vertex 2 is the closest feature
+                                weight = acosf(dot(normalize(-e1), normalize(-e2)));
+                            }
+                            else
+                            {
+                                float e0cp = dot(e0, cp);
+                                float e2cq = dot(e2, cq);
+                                float e1cp = dot(e1, cp);
+
+                                if ((len_cp_sq * e0_norm_sq - e0cp * e0cp < epsilon_min_dist_sq * e0_norm_sq) ||
+                                    (len_cq_sq * e2_norm_sq - e2cq * e2cq < epsilon_min_dist_sq * e2_norm_sq) ||
+                                    (len_cp_sq * e1_norm_sq - e1cp * e1cp < epsilon_min_dist_sq * e1_norm_sq)) {
+                                    // One of the edge
+                                    weight = 3.14159265359f;  // PI
+                                }
+                                else {
+                                    weight = 2.0f * 3.14159265359f; // 2*PI
+                                }
+                            }
+
+                    if (dist > min_dist - epsilon_min_dist)
+                    {
+                        // Treat as equal
+                        accumulated_angle_weighted_normal += weight * normalize(normal);
+                        if (dist < min_dist)
+                        {
+                            min_dist = dist;
+                            min_v = v;
+                            min_w = w;
+                            min_face = primitive_index;
+                        }
+                    }
+                    else {
+                        // Less
+                        min_dist = dist;
+                        min_v = v;
+                        min_w = w;
+                        min_face = primitive_index;
+                        accumulated_angle_weighted_normal = weight * normalize(normal);
+                    }
+                }
+            }
+#if BVH_DEBUG
+            tests++;
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < (max_dist+epsilon_min_dist)*(max_dist+epsilon_min_dist))
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = bvh_load_node(mesh.bvh.node_lowers, left_index);
+            BVHPackedNodeHalf left_upper = bvh_load_node(mesh.bvh.node_uppers, left_index);
+
+            BVHPackedNodeHalf right_lower = bvh_load_node(mesh.bvh.node_lowers, right_index);
+            BVHPackedNodeHalf right_upper = bvh_load_node(mesh.bvh.node_uppers, right_index);
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            wp::vec2i child_indices;
+            wp::vec2 child_dist;
+            if (left_dist_sq < right_dist_sq)
+            {
+                child_indices = wp::vec2i(right_index, left_index);
+                child_dist = wp::vec2(right_dist_sq, left_dist_sq);
+            }
+            else
+            {
+                child_indices = wp::vec2i(left_index, right_index);
+                child_dist = wp::vec2(left_dist_sq, right_dist_sq);
+            }
+
+            if (child_dist[0] < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
+                stack[count++] = child_indices[0];
+
+            if (child_dist[1] < (min_dist + epsilon_min_dist) * (min_dist + epsilon_min_dist))
+                stack[count++] = child_indices[1];
+        }
+    }
+#if BVH_DEBUG
+    printf("%d\n", tests);
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = min_dist;
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n",
+            test_history[i],
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+        fclose(f);
+    }
+#endif
+    // check if we found a point, and write outputs
+    if (min_dist < max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        // determine inside outside using ray-cast parity check
+        //inside = mesh_query_inside(id, point);
+        int i = mesh.indices[min_face*3+0];
+        int j = mesh.indices[min_face*3+1];
+        int k = mesh.indices[min_face*3+2];
+        vec3 p = mesh.points[i];
+        vec3 q = mesh.points[j];
+        vec3 r = mesh.points[k];
+        vec3 closest_point = p*u+q*v+r*min_w;
+        if (dot(accumulated_angle_weighted_normal, point-closest_point) > 0.0) 
+        {
+            inside = 1.0f;
+        } else 
+        {
+            inside = -1.0f;
+        }
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+CUDA_CALLABLE inline float solid_angle_iterative(uint64_t id, const vec3& p, const float accuracy_sq)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    int at_child[BVH_QUERY_STACK_SIZE]; // 0 for left, 1 for right, 2 for done	
+    float angle[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;	
+    at_child[0] = 0;
+
+    int count = 1;
+    angle[0] = 0.0f;
+
+    while (count)
+    {
+        const int nodeIndex = stack[count - 1];
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+        if (lower.b)
+        {
+            // compute closest point on tri
+            const int start = left_index;
+            const int end = right_index;
+            angle[count - 1] = 0.f;
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                int i = mesh.indices[primitive_index * 3 + 0];
+                int j = mesh.indices[primitive_index * 3 + 1];
+                int k = mesh.indices[primitive_index * 3 + 2];
+                angle[count - 1] += robust_solid_angle(
+                    mesh.points[i], 
+                    mesh.points[j], 
+                    mesh.points[k], p);
+                //printf("Leaf %d, got %f\n", leaf_index, my_data[count - 1]);
+            }
+            count--;
+        }
+        else
+        {
+            // See if I have to descend
+            if (at_child[count - 1] == 0) 
+            {
+                // First visit
+                bool des = evaluate_node_solid_angle(p, &mesh.solid_angle_props[nodeIndex], angle[count - 1], accuracy_sq); 
+
+                //printf("Non-Leaf %d, got %f\n", nodeIndex, angle[count - 1]);
+                if (des) 
+                {
+                    // Go left
+                    stack[count] = left_index;
+                    at_child[count - 1] = 1;
+                    angle[count] = 0.0f;
+                    at_child[count] = 0;
+                    count++;
+                } else 
+                {				
+                    // Does not descend done
+                    count--;
+                }
+            } else
+            if (at_child[count - 1] == 1) 
+            {
+                // Add data to parent
+                angle[count - 1] += angle[count];
+                // Go right
+                stack[count] = right_index;
+                at_child[count - 1] = 2;
+                angle[count] = 0.0f;			
+                at_child[count] = 0;
+                count++;					
+            } else {
+                // Descend both sides already
+                angle[count - 1] += angle[count];
+                count--;
+            }
+        }
+    }
+    return angle[0];
+}
+
+CUDA_CALLABLE inline float mesh_query_winding_number(uint64_t id, const vec3& p, const float accuracy) 
+{	
+    float angle = solid_angle_iterative(id, p, accuracy*accuracy);
+    return angle * 0.07957747154; // divided by 4 PI
+}
+
+// returns true if there is a point (strictly) < distance max_dist
+CUDA_CALLABLE inline bool mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float& inside, int& face, float& u, float& v, const float accuracy, const float winding_number_threshold)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;
+
+    int count = 1;
+
+    float min_dist_sq = max_dist*max_dist;
+    int min_face;
+    float min_v;
+    float min_w;
+
+#if BVH_DEBUG
+    int tests = 0;
+    int secondary_culls = 0;
+
+    std::vector<int> test_history;
+    std::vector<vec3> test_centers;
+    std::vector<vec3> test_extents;
+#endif
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+    
+        // re-test distance
+        float node_dist_sq = distance_to_aabb_sq(point, vec3(lower.x, lower.y, lower.z), vec3(upper.x, upper.y, upper.z));
+        if (node_dist_sq > min_dist_sq)
+        {
+#if BVH_DEBUG			
+            secondary_culls++;
+#endif			
+            continue;
+        }
+
+        const int left_index = lower.i;
+        const int right_index = upper.i;
+
+        if (lower.b)
+        {	
+            const int start = left_index;
+            const int end = right_index;
+            // loops through primitives in the leaf
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                int i = mesh.indices[primitive_index * 3 + 0];
+                int j = mesh.indices[primitive_index * 3 + 1];
+                int k = mesh.indices[primitive_index * 3 + 2];
+
+                vec3 p = mesh.points[i];
+                vec3 q = mesh.points[j];
+                vec3 r = mesh.points[k];
+
+                vec3 e0 = q - p;
+                vec3 e1 = r - p;
+                vec3 e2 = r - q;
+                vec3 normal = cross(e0, e1);
+
+                // sliver detection
+                if (length(normal) / (dot(e0, e0) + dot(e1, e1) + dot(e2, e2)) < 1.e-6f)
+                    continue;
+
+                vec2 barycentric = closest_point_to_triangle(p, q, r, point);
+                float u = barycentric[0];
+                float v = barycentric[1];
+                float w = 1.f - u - v;
+                vec3 c = u * p + v * q + w * r;
+
+                float dist_sq = length_sq(c - point);
+
+                if (dist_sq < min_dist_sq)
+                {
+                    min_dist_sq = dist_sq;
+                    min_v = v;
+                    min_w = w;
+                    min_face = primitive_index;
+                }
+            }
+#if BVH_DEBUG
+
+            tests++;
+
+            bounds3 b;
+            b = bounds_union(b, p);
+            b = bounds_union(b, q);
+            b = bounds_union(b, r);
+
+            if (distance_to_aabb_sq(point, b.lower, b.upper) < max_dist*max_dist)
+            {
+                //if (dist_sq < max_dist*max_dist)
+                test_history.push_back(left_index);
+                test_centers.push_back(b.center());
+                test_extents.push_back(b.edges());
+            }
+#endif
+
+        }
+        else
+        {
+            BVHPackedNodeHalf left_lower = bvh_load_node(mesh.bvh.node_lowers, left_index);
+            BVHPackedNodeHalf left_upper = bvh_load_node(mesh.bvh.node_uppers, left_index);
+
+            BVHPackedNodeHalf right_lower = bvh_load_node(mesh.bvh.node_lowers, right_index);
+            BVHPackedNodeHalf right_upper = bvh_load_node(mesh.bvh.node_uppers, right_index);
+
+            float left_dist_sq = distance_to_aabb_sq(point, vec3(left_lower.x, left_lower.y, left_lower.z), vec3(left_upper.x, left_upper.y, left_upper.z));
+            float right_dist_sq = distance_to_aabb_sq(point, vec3(right_lower.x, right_lower.y, right_lower.z), vec3(right_upper.x, right_upper.y, right_upper.z));
+
+            wp::vec2i child_indices;
+            wp::vec2 child_dist;
+            if (left_dist_sq < right_dist_sq)
+            {
+                child_indices = wp::vec2i(right_index, left_index);
+                child_dist = wp::vec2(right_dist_sq, left_dist_sq);
+            }
+            else
+            {
+                child_indices = wp::vec2i(left_index, right_index);
+                child_dist = wp::vec2(left_dist_sq, right_dist_sq);
+            }
+
+            if (child_dist[0] < min_dist_sq)
+                stack[count++] = child_indices[0];
+
+            if (child_dist[1] < min_dist_sq)
+                stack[count++] = child_indices[1];
+        }
+    }
+
+
+#if BVH_DEBUG
+    printf("%d\n", tests);
+
+    static int max_tests = 0;
+    static vec3 max_point;
+    static float max_point_dist = 0.0f;
+    static int max_secondary_culls = 0;
+
+    if (secondary_culls > max_secondary_culls)
+        max_secondary_culls = secondary_culls;
+
+    if (tests > max_tests)
+    {
+        max_tests = tests;
+        max_point = point;
+        max_point_dist = sqrtf(min_dist_sq);
+
+        printf("max_tests: %d max_point: %f %f %f max_point_dist: %f max_second_culls: %d\n", max_tests, max_point[0], max_point[1], max_point[2], max_point_dist, max_secondary_culls);
+
+        FILE* f = fopen("test_history.txt", "w");
+        for (int i=0; i < test_history.size(); ++i)
+        {
+            fprintf(f, "%d, %f, %f, %f, %f, %f, %f\n", 
+            test_history[i], 
+            test_centers[i][0], test_centers[i][1], test_centers[i][2],
+            test_extents[i][0], test_extents[i][1], test_extents[i][2]);
+        }
+
+        fclose(f);
+    }
+#endif
+
+    // check if we found a point, and write outputs
+    if (min_dist_sq < max_dist*max_dist)
+    {
+        u = 1.0f - min_v - min_w;
+        v = min_v;
+        face = min_face;
+        
+        // determine inside outside using ray-cast parity check
+        if (!mesh.solid_angle_props) {
+            inside = mesh_query_inside(id, point);
+        }
+        else {
+            float winding_number = mesh_query_winding_number(id, point, accuracy);
+            inside = (winding_number > winding_number_threshold) ? -1.0f:1.0f;
+        }
+        
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, const int& face, const float& u, const float& v,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+    
+    // face is determined by BVH in forward pass
+    int i = mesh.indices[face*3+0];
+    int j = mesh.indices[face*3+1];
+    int k = mesh.indices[face*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    vec3 adj_p, adj_q, adj_r;
+
+    vec2 adj_uv(adj_u, adj_v);
+
+    adj_closest_point_to_triangle(p, q, r, point, adj_p, adj_q, adj_r, adj_point, adj_uv);	
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, const int& face, const float& u, const float& v,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_min_dist, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+    
+    // face is determined by BVH in forward pass
+    int i = mesh.indices[face*3+0];
+    int j = mesh.indices[face*3+1];
+    int k = mesh.indices[face*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    vec3 adj_p, adj_q, adj_r;
+
+    vec2 adj_uv(adj_u, adj_v);
+
+    adj_closest_point_to_triangle(p, q, r, point, adj_p, adj_q, adj_r, adj_point, adj_uv);	 // Todo for Miles :>
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, bool& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v, const float epsilon,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, float& adj_epsilon, bool& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, const float& inside, const int& face, const float& u, const float& v, const float accuracy, const float winding_number_threshold,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_inside, int& adj_face, float& adj_u, float& adj_v, float& adj_accuracy, float& adj_winding_number_threshold, bool& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, face, u, v, adj_id, adj_point, adj_max_dist, adj_face, adj_u, adj_v, adj_ret);
+}
+
+
+// Stores the result of querying the closest point on a mesh.
+struct mesh_query_point_t
+{
+    CUDA_CALLABLE mesh_query_point_t()
+        : result(false),
+          sign(0.0f),
+          face(0),
+          u(0.0f),
+          v(0.0f)
+    {}
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline mesh_query_point_t& operator+=(const mesh_query_point_t& other)
+    {
+        result += other.result;
+        sign += other.sign;
+        face += other.face;
+        u += other.u;
+        v += other.v;
+        return *this;
+    }
+
+    bool result;
+    float sign;
+    int face;
+    float u;
+    float v;
+};
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point(uint64_t id, const vec3& point, float max_dist)
+{
+    mesh_query_point_t query;
+    query.result = mesh_query_point(id, point, max_dist, query.sign, query.face, query.u, query.v);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist)
+{
+    mesh_query_point_t query;
+    query.sign = 0.0;
+    query.result = mesh_query_point_no_sign(id, point, max_dist, query.face, query.u, query.v);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist)
+{
+    mesh_query_point_t query;
+    query.sign = 0.0;
+    query.result = mesh_query_furthest_point_no_sign(id, point, min_dist, query.face, query.u, query.v);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, const float epsilon = 1e-3f)
+{
+    mesh_query_point_t query;
+    query.result = mesh_query_point_sign_normal(id, point, max_dist, query.sign, query.face, query.u, query.v, epsilon);
+    return query;
+}
+
+CUDA_CALLABLE inline mesh_query_point_t mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float accuracy, float winding_number_threshold)
+{
+    mesh_query_point_t query;
+    query.result = mesh_query_point_sign_winding_number(id, point, max_dist, query.sign, query.face, query.u, query.v, accuracy, winding_number_threshold);
+    return query;
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point(uint64_t id, const vec3& point, float max_dist, const mesh_query_point_t& ret,
+                                               uint64_t adj_id, vec3& adj_point, float& adj_max_dist, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v,
+                         adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_no_sign(uint64_t id, const vec3& point, float max_dist, const mesh_query_point_t& ret,
+                                                       uint64_t adj_id, vec3& adj_point, float& adj_max_dist, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point_no_sign(id, point, max_dist, ret.face, ret.u, ret.v,
+                                adj_id, adj_point, adj_max_dist, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_furthest_point_no_sign(uint64_t id, const vec3& point, float min_dist, const mesh_query_point_t& ret,
+                                                                uint64_t adj_id, vec3& adj_point, float& adj_min_dist, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_furthest_point_no_sign(id, point, min_dist, ret.face, ret.u, ret.v,
+                                          adj_id, adj_point, adj_min_dist, adj_ret.face, adj_ret.u, adj_ret.v, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_normal(uint64_t id, const vec3& point, float max_dist, float epsilon, const mesh_query_point_t& ret,
+                                                           uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_epsilon, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point_sign_normal(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v, epsilon,
+                                     adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, epsilon, adj_ret.result);
+}
+
+CUDA_CALLABLE inline void adj_mesh_query_point_sign_winding_number(uint64_t id, const vec3& point, float max_dist, float accuracy, float winding_number_threshold, const mesh_query_point_t& ret,
+                                                                   uint64_t adj_id, vec3& adj_point, float& adj_max_dist, float& adj_accuracy, float& adj_winding_number_threshold, mesh_query_point_t& adj_ret)
+{
+    adj_mesh_query_point_sign_winding_number(id, point, max_dist, ret.sign, ret.face, ret.u, ret.v, accuracy, winding_number_threshold,
+                                             adj_id, adj_point, adj_max_dist, adj_ret.sign, adj_ret.face, adj_ret.u, adj_ret.v, adj_accuracy, adj_winding_number_threshold, adj_ret.result);
+}
+
+CUDA_CALLABLE inline bool mesh_query_ray(uint64_t id, const vec3& start, const vec3& dir, float max_t, float& t, float& u, float& v, float& sign, vec3& normal, int& face)
+{
+    Mesh mesh = mesh_get(id);
+
+    int stack[BVH_QUERY_STACK_SIZE];
+    stack[0] = *mesh.bvh.root;
+    int count = 1;
+
+    vec3 rcp_dir = vec3(1.0f/dir[0], 1.0f/dir[1], 1.0f/dir[2]);
+
+    float min_t = max_t;
+    int min_face;
+    float min_u;
+    float min_v;
+    float min_sign = 1.0f;
+    vec3 min_normal;
+
+    while (count)
+    {
+        const int nodeIndex = stack[--count];
+
+        BVHPackedNodeHalf lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+
+        // todo: switch to robust ray-aabb, or expand bounds in build stage
+        float eps = 1.e-3f;
+        float t = 0.0f;
+        bool hit = intersect_ray_aabb(start, rcp_dir, vec3(lower.x-eps, lower.y-eps, lower.z-eps), vec3(upper.x+eps, upper.y+eps, upper.z+eps), t);
+
+        if (hit && t < min_t)
+        {
+            const int left_index = lower.i;
+            const int right_index = upper.i;
+
+            if (lower.b)
+            {	
+                const int start_index = left_index;
+                const int end_index = right_index;
+                // loops through primitives in the leaf
+                for (int primitive_counter = start_index; primitive_counter < end_index ; primitive_counter++)
+                {
+                    int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                    int i = mesh.indices[primitive_index * 3 + 0];
+                    int j = mesh.indices[primitive_index * 3 + 1];
+                    int k = mesh.indices[primitive_index * 3 + 2];
+
+                    vec3 p = mesh.points[i];
+                    vec3 q = mesh.points[j];
+                    vec3 r = mesh.points[k];
+
+                    float t, u, v, sign;
+                    vec3 n;
+
+                    if (intersect_ray_tri_woop(start, dir, p, q, r, t, u, v, sign, &n))
+                    {
+                        if (t < min_t && t >= 0.0f)
+                        {
+                            min_t = t;
+                            min_face = primitive_index;
+                            min_u = u;
+                            min_v = v;
+                            min_sign = sign;
+                            min_normal = n;
+                        }
+                    }
+                }
+            }
+            else
+            {
+                stack[count++] = left_index;
+                stack[count++] = right_index;
+            }
+        }
+    }
+
+    if (min_t < max_t)
+    {
+        // write outputs
+        u = min_u;
+        v = min_v;
+        sign = min_sign;
+        t = min_t;
+        normal = normalize(min_normal);
+        face = min_face;
+
+        return true;
+    }
+    else
+    {
+        return false;
+    }
+    
+}
+
+
+CUDA_CALLABLE inline void adj_mesh_query_ray(
+    uint64_t id, const vec3& start, const vec3& dir, float max_t, float t, float u, float v, float sign, const vec3& n, int face,
+    uint64_t adj_id, vec3& adj_start, vec3& adj_dir, float& adj_max_t, float& adj_t, float& adj_u, float& adj_v, float& adj_sign, vec3& adj_n, int& adj_face, bool& adj_ret)
+{
+
+    Mesh mesh = mesh_get(id);
+    
+    // face is determined by BVH in forward pass
+    int i = mesh.indices[face*3+0];
+    int j = mesh.indices[face*3+1];
+    int k = mesh.indices[face*3+2];
+
+    vec3 a = mesh.points[i];
+    vec3 b = mesh.points[j];
+    vec3 c = mesh.points[k];
+
+    vec3 adj_a, adj_b, adj_c;
+
+    adj_intersect_ray_tri_woop(start, dir, a, b, c, t, u, v, sign, n, adj_start, adj_dir, adj_a, adj_b, adj_c, adj_t, adj_u, adj_v, adj_sign, adj_n, adj_ret);
+
+}
+
+
+// Stores the result of querying the closest point on a mesh.
+struct mesh_query_ray_t
+{
+    CUDA_CALLABLE mesh_query_ray_t()
+        : result(false),
+          sign(0.0f),
+          face(0),
+          t(0.0f),
+          u(0.0f),
+          v(0.0f),
+          normal()
+    {
+    }
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline mesh_query_ray_t& operator+=(const mesh_query_ray_t& other)
+    {
+        result += other.result;
+        sign += other.sign;
+        face += other.face;
+        t += other.t;
+        u += other.u;
+        v += other.v;
+        normal += other.normal;
+        return *this;
+    }
+
+    float sign;
+    int face;
+    float t;
+    float u;
+    float v;
+    vec3 normal;
+    bool result;
+};
+
+CUDA_CALLABLE inline mesh_query_ray_t mesh_query_ray(uint64_t id, const vec3& start, const vec3& dir, float max_t)
+{
+    mesh_query_ray_t query;
+    query.result = mesh_query_ray(id, start, dir, max_t, query.t, query.u, query.v, query.sign, query.normal, query.face);
+    return query;
+}
+
+CUDA_CALLABLE inline void
+adj_mesh_query_ray(
+    uint64_t id, const vec3& start, const vec3& dir, float max_t, const mesh_query_ray_t& ret,
+    uint64_t adj_id, vec3& adj_start, vec3& adj_dir, float& adj_max_t, mesh_query_ray_t& adj_ret
+)
+{
+    adj_mesh_query_ray(
+        id, start, dir, max_t, ret.t, ret.u, ret.v, ret.sign, ret.normal, ret.face,
+        adj_id, adj_start, adj_dir, adj_max_t, adj_ret.t, adj_ret.u, adj_ret.v, adj_ret.sign, adj_ret.normal, adj_ret.face, adj_ret.result
+    );
+}
+
+
+// determine if a point is inside (ret < 0 ) or outside the mesh (ret > 0)
+CUDA_CALLABLE inline float mesh_query_inside(uint64_t id, const vec3& p)
+{
+    float t, u, v, sign;
+    vec3 n;
+    int face;
+
+    int vote = 0;
+
+    for(int i = 0; i <3; ++i)
+    {
+        if (mesh_query_ray(id, p, vec3(float(i==0), float(i==1), float(i==2)), FLT_MAX, t, u, v, sign, n, face) && sign < 0) 
+        {
+            vote++;
+        }
+    }
+
+    if (vote >= 2)
+        return -1.0f;
+    else
+        return 1.0f;
+}
+
+// stores state required to traverse the BVH nodes that 
+// overlap with a query AABB.
+struct mesh_query_aabb_t
+{
+    CUDA_CALLABLE mesh_query_aabb_t()
+        : mesh(),
+          stack(),
+          count(0),
+          input_lower(),
+          input_upper(),
+          face(0),
+          primitive_counter(-1)
+    {}
+
+    // Required for adjoint computations.
+    CUDA_CALLABLE inline mesh_query_aabb_t& operator+=(const mesh_query_aabb_t& other)
+    {
+        return *this;
+    }
+
+    // Mesh Id
+    Mesh mesh;
+    // BVH traversal stack:
+    int stack[BVH_QUERY_STACK_SIZE];
+    int count;
+
+    // inputs
+    wp::vec3 input_lower;
+    wp::vec3 input_upper;
+
+    // >= 0 if currently in a packed leaf node
+    int primitive_counter;
+
+    // Face
+    int face;
+};
+
+
+
+CUDA_CALLABLE inline mesh_query_aabb_t mesh_query_aabb(
+    uint64_t id, const vec3& lower, const vec3& upper)
+{
+    // This routine traverses the BVH tree until it finds
+    // the first triangle with an overlapping bvh. 
+
+    // initialize empty
+    mesh_query_aabb_t query;
+    query.face = -1;
+
+    Mesh mesh = mesh_get(id);
+    query.mesh = mesh;
+    
+    query.stack[0] = *mesh.bvh.root;
+    query.count = 1;
+    query.input_lower = lower;
+    query.input_upper = upper;
+
+    wp::bounds3 input_bounds(query.input_lower, query.input_upper);
+    
+    // Navigate through the bvh, find the first overlapping leaf node.
+    while (query.count)
+    {
+        const int nodeIndex = query.stack[--query.count];
+        BVHPackedNodeHalf node_lower = bvh_load_node(mesh.bvh.node_lowers, nodeIndex);
+        BVHPackedNodeHalf node_upper = bvh_load_node(mesh.bvh.node_uppers, nodeIndex);
+
+        if (!input_bounds.overlaps((vec3&)node_lower, (vec3&)node_upper))
+        {
+            // Skip this box, it doesn't overlap with our target box.
+            continue;
+        }
+
+        const int left_index = node_lower.i;
+        const int right_index = node_upper.i;
+
+        // Make bounds from this AABB
+        if (node_lower.b)
+        {
+            // Reached a leaf node, point to its first primitive
+            // Back up one level and return 
+            query.primitive_counter = left_index;
+            query.stack[query.count++] = nodeIndex;
+            return query;
+        }
+        else
+        {	
+          query.stack[query.count++] = left_index;
+          query.stack[query.count++] = right_index;
+        }
+    }	
+
+    return query;
+}
+
+//Stub
+CUDA_CALLABLE inline void adj_mesh_query_aabb(uint64_t id, const vec3& lower, const vec3& upper,
+                                              uint64_t, vec3&, vec3&, mesh_query_aabb_t&)
+{
+
+}
+
+CUDA_CALLABLE inline bool mesh_query_aabb_next(mesh_query_aabb_t& query, int& index)
+{
+    Mesh mesh = query.mesh;
+
+    wp::bounds3 input_bounds(query.input_lower, query.input_upper);
+
+    if (query.primitive_counter != -1)
+        // currently in a leaf node which is the last node in the stack
+    {
+        const int node_index = query.stack[query.count - 1];
+        BVHPackedNodeHalf node_lower = bvh_load_node(mesh.bvh.node_lowers, node_index);
+        BVHPackedNodeHalf node_upper = bvh_load_node(mesh.bvh.node_uppers, node_index);
+
+        const int end = node_upper.i;
+        for (int primitive_counter = query.primitive_counter; primitive_counter < end; primitive_counter++)
+        {
+            int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+            if (input_bounds.overlaps(mesh.lowers[primitive_index], mesh.uppers[primitive_index]))
+            {
+                if (primitive_counter < end - 1)
+                    // still need to come back to this leaf node for the leftover primitives
+                {
+                    query.primitive_counter = primitive_counter + 1;
+                }
+                else
+                    // no need to come back to this leaf node
+                {
+                    query.count--;
+                    query.primitive_counter = -1;
+                }
+                index = primitive_index;
+                query.face = primitive_index;
+
+                return true;
+            }
+        }
+        // if we reach here it means we have finished the current leaf node without finding intersections
+        query.primitive_counter = -1;
+        // remove the leaf node from the back of the stack because it is finished
+        // and continue the bvh traversal
+        query.count--;
+    }
+    
+    // Navigate through the bvh, find the first overlapping leaf node.
+    while (query.count)
+    {
+        const int node_index = query.stack[--query.count];
+        BVHPackedNodeHalf node_lower = bvh_load_node(mesh.bvh.node_lowers, node_index);
+        BVHPackedNodeHalf node_upper = bvh_load_node(mesh.bvh.node_uppers, node_index);
+
+        if (!input_bounds.overlaps((vec3&)node_lower, (vec3&)node_upper))
+        {
+            // Skip this box, it doesn't overlap with our target box.
+            continue;
+        }
+
+        const int left_index = node_lower.i;
+        const int right_index = node_upper.i;
+
+        // Make bounds from this AABB
+        if (node_lower.b)
+        {
+            // found leaf, loop through its content primitives
+            const int start = left_index;
+            const int end = right_index;
+
+            for (int primitive_counter = start; primitive_counter < end; primitive_counter++)
+            {
+                int primitive_index = mesh.bvh.primitive_indices[primitive_counter];
+                if (input_bounds.overlaps(mesh.lowers[primitive_index], mesh.uppers[primitive_index]))
+                {
+                    if (primitive_counter < end - 1)
+                        // still need to come back to this leaf node for the leftover primitives
+                    {
+                        query.primitive_counter = primitive_counter + 1;
+                        query.stack[query.count++] = node_index;
+                    }
+                    else
+                        // no need to come back to this leaf node
+                    {
+                        query.primitive_counter = -1;
+                    }
+                    index = primitive_index;
+                    query.face = primitive_index;
+
+                    return true;
+                }
+            }
+        }
+        else
+        {
+            query.stack[query.count++] = left_index;
+            query.stack[query.count++] = right_index;
+        }
+    }
+    return false;
+}
+
+
+CUDA_CALLABLE inline int iter_next(mesh_query_aabb_t& query)
+{
+    return query.face;
+}
+
+CUDA_CALLABLE inline bool iter_cmp(mesh_query_aabb_t& query)
+{
+    bool finished = mesh_query_aabb_next(query, query.face);
+    return finished;
+}
+
+CUDA_CALLABLE inline mesh_query_aabb_t iter_reverse(const mesh_query_aabb_t& query)
+{
+    // can't reverse BVH queries, users should not rely on neighbor ordering
+    return query;
+}
+
+CUDA_CALLABLE inline void adj_iter_reverse(const mesh_query_aabb_t& query, mesh_query_aabb_t& adj_query, mesh_query_aabb_t& adj_ret)
+{
+}
+
+
+// stub
+CUDA_CALLABLE inline void adj_mesh_query_aabb_next(mesh_query_aabb_t& query, int& index, mesh_query_aabb_t&, int&, bool&) 
+{
+
+}
+
+
+CUDA_CALLABLE inline vec3 mesh_eval_position(uint64_t id, int tri, float u, float v)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return vec3();
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    return p*u + q*v + r*(1.0f-u-v);
+}
+
+CUDA_CALLABLE inline vec3 mesh_eval_velocity(uint64_t id, int tri, float u, float v)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.velocities)
+        return vec3();
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 vp = mesh.velocities[i];
+    vec3 vq = mesh.velocities[j];
+    vec3 vr = mesh.velocities[k];
+
+    return vp*u + vq*v + vr*(1.0f-u-v);
+}
+
+
+CUDA_CALLABLE inline void adj_mesh_eval_position(uint64_t id, int tri, float u, float v,
+                                                 uint64_t& adj_id, int& adj_tri, float& adj_u, float& adj_v, const vec3& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return;
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    adj_u += (p[0] - r[0]) * adj_ret[0] + (p[1] - r[1]) * adj_ret[1] + (p[2] - r[2]) * adj_ret[2];
+    adj_v += (q[0] - r[0]) * adj_ret[0] + (q[1] - r[1]) * adj_ret[1] + (q[2] - r[2]) * adj_ret[2];
+}
+
+CUDA_CALLABLE inline void adj_mesh_eval_velocity(uint64_t id, int tri, float u, float v,
+                                                 uint64_t& adj_id, int& adj_tri, float& adj_u, float& adj_v, const vec3& adj_ret)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.velocities)
+        return;
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 vp = mesh.velocities[i];
+    vec3 vq = mesh.velocities[j];
+    vec3 vr = mesh.velocities[k];
+
+    adj_u += (vp[0] - vr[0]) * adj_ret[0] + (vp[1] - vr[1]) * adj_ret[1] + (vp[2] - vr[2]) * adj_ret[2];
+    adj_v += (vq[0] - vr[0]) * adj_ret[0] + (vq[1] - vr[1]) * adj_ret[1] + (vq[2] - vr[2]) * adj_ret[2];
+}
+
+CUDA_CALLABLE inline vec3 mesh_eval_face_normal(uint64_t id, int tri)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return vec3();
+
+    assert(tri < mesh.num_tris);
+
+    int i = mesh.indices[tri*3+0];
+    int j = mesh.indices[tri*3+1];
+    int k = mesh.indices[tri*3+2];
+
+    vec3 p = mesh.points[i];
+    vec3 q = mesh.points[j];
+    vec3 r = mesh.points[k];
+
+    return normalize(cross(q - p, r - p));
+}
+
+CUDA_CALLABLE inline void adj_mesh_eval_face_normal(uint64_t id, int tri,
+                                                    uint64_t& adj_id, int& adj_tri, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE inline vec3 mesh_get_point(uint64_t id, int index)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.points)
+        return vec3();
+
+#if FP_CHECK
+    if (index >= mesh.num_tris * 3)
+    {
+        printf("mesh_get_point (%llu, %d) out of bounds at %s:%d\n", id, index, __FILE__, __LINE__);
+        assert(0);
+    }
+#endif
+
+    int i = mesh.indices[index];
+    return mesh.points[i];
+}
+
+CUDA_CALLABLE inline void adj_mesh_get_point(uint64_t id, int index,
+                                             uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE inline vec3 mesh_get_velocity(uint64_t id, int index)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.velocities)
+        return vec3();
+
+#if FP_CHECK
+    if (index >= mesh.num_tris * 3)
+    {
+        printf("mesh_get_velocity (%llu, %d) out of bounds at %s:%d\n", id, index, __FILE__, __LINE__);
+        assert(0);
+    }
+#endif
+
+    int i = mesh.indices[index];
+    return mesh.velocities[i];
+}
+
+CUDA_CALLABLE inline void adj_mesh_get_velocity(uint64_t id, int index,
+                                                uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE inline int mesh_get_index(uint64_t id, int face_vertex_index)
+{
+    Mesh mesh = mesh_get(id);
+
+    if (!mesh.indices)
+        return -1;
+
+    assert(face_vertex_index < mesh.num_tris * 3);
+
+    return mesh.indices[face_vertex_index];
+}
+
+CUDA_CALLABLE inline void adj_mesh_get_index(uint64_t id, int index,
+                                             uint64_t& adj_id, int& adj_index, const vec3& adj_ret)
+{
+    // no-op
+}
+
+CUDA_CALLABLE bool mesh_get_descriptor(uint64_t id, Mesh& mesh);
+CUDA_CALLABLE bool mesh_set_descriptor(uint64_t id, const Mesh& mesh);
+CUDA_CALLABLE void mesh_add_descriptor(uint64_t id, const Mesh& mesh);
+CUDA_CALLABLE void mesh_rem_descriptor(uint64_t id);
+
+} // namespace wp