warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/fem/geometry/trimesh.py

@@ -0,0 +1,806 @@
+# SPDX-FileCopyrightText: Copyright (c) 2024 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.
+
+from typing import Any, Optional
+
+import warp as wp
+from warp.fem.cache import (
+    TemporaryStore,
+    borrow_temporary,
+    borrow_temporary_like,
+    cached_arg_value,
+)
+from warp.fem.types import (
+    NULL_ELEMENT_INDEX,
+    OUTSIDE,
+    Coords,
+    ElementIndex,
+    Sample,
+    make_free_sample,
+)
+
+from .closest_point import project_on_tri_at_origin
+from .element import LinearEdge, Triangle
+from .geometry import Geometry
+
+
+@wp.struct
+class TrimeshCellArg:
+    tri_vertex_indices: wp.array2d(dtype=int)
+
+    # for neighbor cell lookup
+    vertex_tri_offsets: wp.array(dtype=int)
+    vertex_tri_indices: wp.array(dtype=int)
+
+    # for global cell lookup
+    tri_bvh: wp.uint64
+
+
+@wp.struct
+class TrimeshSideArg:
+    cell_arg: TrimeshCellArg
+    edge_vertex_indices: wp.array(dtype=wp.vec2i)
+    edge_tri_indices: wp.array(dtype=wp.vec2i)
+
+
+_NULL_BVH = wp.constant(wp.uint64(0))
+
+
+@wp.func
+def _bvh_vec(v: wp.vec3):
+    return v
+
+
+@wp.func
+def _bvh_vec(v: wp.vec2):
+    return wp.vec3(v[0], v[1], 0.0)
+
+
+class Trimesh(Geometry):
+    """Triangular mesh geometry"""
+
+    def __init__(
+        self,
+        tri_vertex_indices: wp.array,
+        positions: wp.array,
+        build_bvh: bool = False,
+        temporary_store: Optional[TemporaryStore] = None,
+    ):
+        """
+        Constructs a D-dimensional triangular mesh.
+
+        Args:
+            tri_vertex_indices: warp array of shape (num_tris, 3) containing vertex indices for each tri
+            positions: warp array of shape (num_vertices, D) containing the position of each vertex
+            temporary_store: shared pool from which to allocate temporary arrays
+            build_bvh: Whether to also build the triangle BVH, which is necessary for the global `fem.lookup` operator to function without initial guess
+        """
+
+        self.tri_vertex_indices = tri_vertex_indices
+        self.positions = positions
+
+        self._edge_vertex_indices: wp.array = None
+        self._edge_tri_indices: wp.array = None
+        self._vertex_tri_offsets: wp.array = None
+        self._vertex_tri_indices: wp.array = None
+        self._build_topology(temporary_store)
+
+        self._tri_bvh: wp.Bvh = None
+        if build_bvh:
+            self._build_bvh()
+
+        # Flip edges so that normals point away from inner cell
+        wp.launch(
+            kernel=self._orient_edges,
+            device=positions.device,
+            dim=self.side_count(),
+            inputs=[self._edge_vertex_indices, self._edge_tri_indices, self.tri_vertex_indices, self.positions],
+        )
+
+        self._make_default_dependent_implementations()
+
+    def update_bvh(self, force_rebuild: bool = False):
+        """
+        Refits the BVH, or rebuilds it from scratch if `force_rebuild` is ``True``.
+        """
+
+        if self._tri_bvh is None or force_rebuild:
+            return self.build_bvh()
+
+        wp.launch(
+            Trimesh._compute_tri_bounds,
+            self.tri_vertex_indices,
+            self.positions,
+            self._tri_bvh.lowers,
+            self._tri_bvh.uppers,
+        )
+        self._tri_bvh.refit()
+
+    def _build_bvh(self, temporary_store: Optional[TemporaryStore] = None):
+        lowers = wp.array(shape=self.cell_count(), dtype=wp.vec3, device=self.positions.device)
+        uppers = wp.array(shape=self.cell_count(), dtype=wp.vec3, device=self.positions.device)
+        wp.launch(
+            Trimesh._compute_tri_bounds,
+            device=self.positions.device,
+            dim=self.cell_count(),
+            inputs=[self.tri_vertex_indices, self.positions, lowers, uppers],
+        )
+        self._tri_bvh = wp.Bvh(lowers, uppers)
+
+    def cell_count(self):
+        return self.tri_vertex_indices.shape[0]
+
+    def vertex_count(self):
+        return self.positions.shape[0]
+
+    def side_count(self):
+        return self._edge_vertex_indices.shape[0]
+
+    def boundary_side_count(self):
+        return self._boundary_edge_indices.shape[0]
+
+    def reference_cell(self) -> Triangle:
+        return Triangle()
+
+    def reference_side(self) -> LinearEdge:
+        return LinearEdge()
+
+    @property
+    def edge_tri_indices(self) -> wp.array:
+        return self._edge_tri_indices
+
+    @property
+    def edge_vertex_indices(self) -> wp.array:
+        return self._edge_vertex_indices
+
+    @wp.struct
+    class SideIndexArg:
+        boundary_edge_indices: wp.array(dtype=int)
+
+    @cached_arg_value
+    def _cell_topo_arg_value(self, device):
+        args = TrimeshCellArg()
+
+        args.tri_vertex_indices = self.tri_vertex_indices.to(device)
+        args.vertex_tri_offsets = self._vertex_tri_offsets.to(device)
+        args.vertex_tri_indices = self._vertex_tri_indices.to(device)
+
+        return args
+
+    @cached_arg_value
+    def _side_topo_arg_value(self, device):
+        args = TrimeshSideArg()
+
+        args.cell_arg = self._cell_topo_arg_value(device)
+        args.edge_vertex_indices = self._edge_vertex_indices.to(device)
+        args.edge_tri_indices = self._edge_tri_indices.to(device)
+
+        return args
+
+    def _bvh_id(self, device):
+        if self._tri_bvh is None or self._tri_bvh.device != device:
+            return _NULL_BVH
+        return self._tri_bvh.id
+
+    def cell_arg_value(self, device):
+        args = self.CellArg()
+
+        args.topology = self._cell_topo_arg_value(device)
+        args.positions = self.positions.to(device)
+        args.topology.tri_bvh = self._bvh_id(device)
+
+        return args
+
+    def side_arg_value(self, device):
+        args = self.SideArg()
+
+        args.topology = self._side_topo_arg_value(device)
+        args.positions = self.positions.to(device)
+        args.topology.cell_arg.tri_bvh = self._bvh_id(device)
+
+        return args
+
+    @wp.func
+    def _project_on_tri(args: TrimeshCellArg, positions: wp.array(dtype=Any), pos: Any, tri_index: int):
+        p0 = positions[args.tri_vertex_indices[tri_index, 0]]
+
+        q = pos - p0
+        e1 = positions[args.tri_vertex_indices[tri_index, 1]] - p0
+        e2 = positions[args.tri_vertex_indices[tri_index, 2]] - p0
+
+        dist, coords = project_on_tri_at_origin(q, e1, e2)
+        return dist, coords
+
+    @wp.func
+    def _bvh_lookup(args: TrimeshCellArg, positions: wp.array(dtype=Any), pos: Any):
+        closest_tri = int(NULL_ELEMENT_INDEX)
+        closest_coords = Coords(OUTSIDE)
+        closest_dist = float(1.0e8)
+
+        if args.tri_bvh != _NULL_BVH:
+            bvh_pos = _bvh_vec(pos)
+            query = wp.bvh_query_aabb(args.tri_bvh, bvh_pos, bvh_pos)
+            tri = int(0)
+            while wp.bvh_query_next(query, tri):
+                dist, coords = Trimesh._project_on_tri(args, positions, pos, tri)
+                if dist <= closest_dist:
+                    closest_dist = dist
+                    closest_tri = tri
+                    closest_coords = coords
+
+        return closest_dist, closest_tri, closest_coords
+
+    @wp.func
+    def _cell_neighbor_lookup(args: TrimeshCellArg, positions: wp.array(dtype=Any), pos: Any, cell_index: int):
+        closest_dist = float(1.0e8)
+
+        for v in range(3):
+            vtx = args.tri_vertex_indices[cell_index, v]
+            tri_beg = args.vertex_tri_offsets[vtx]
+            tri_end = args.vertex_tri_offsets[vtx + 1]
+
+            for t in range(tri_beg, tri_end):
+                tri = args.vertex_tri_indices[t]
+                dist, coords = Trimesh._project_on_tri(args, positions, pos, tri)
+                if dist <= closest_dist:
+                    closest_dist = dist
+                    closest_tri = tri
+                    closest_coords = coords
+
+        return closest_dist, closest_tri, closest_coords
+
+    @cached_arg_value
+    def side_index_arg_value(self, device) -> SideIndexArg:
+        args = self.SideIndexArg()
+
+        args.boundary_edge_indices = self._boundary_edge_indices.to(device)
+
+        return args
+
+    @wp.func
+    def boundary_side_index(args: SideIndexArg, boundary_side_index: int):
+        """Boundary side to side index"""
+
+        return args.boundary_edge_indices[boundary_side_index]
+
+    @wp.func
+    def _edge_to_tri_coords(
+        args: TrimeshSideArg, side_index: ElementIndex, tri_index: ElementIndex, side_coords: Coords
+    ):
+        edge_vidx = args.edge_vertex_indices[side_index]
+        tri_vidx = args.cell_arg.tri_vertex_indices[tri_index]
+
+        v0 = tri_vidx[0]
+        v1 = tri_vidx[1]
+
+        cx = float(0.0)
+        cy = float(0.0)
+        cz = float(0.0)
+
+        if edge_vidx[0] == v0:
+            cx = 1.0 - side_coords[0]
+        elif edge_vidx[0] == v1:
+            cy = 1.0 - side_coords[0]
+        else:
+            cz = 1.0 - side_coords[0]
+
+        if edge_vidx[1] == v0:
+            cx = side_coords[0]
+        elif edge_vidx[1] == v1:
+            cy = side_coords[0]
+        else:
+            cz = side_coords[0]
+
+        return Coords(cx, cy, cz)
+
+    @wp.func
+    def _tri_to_edge_coords(
+        args: TrimeshSideArg,
+        side_index: ElementIndex,
+        tri_index: ElementIndex,
+        tri_coords: Coords,
+    ):
+        edge_vidx = args.edge_vertex_indices[side_index]
+        tri_vidx = args.cell_arg.tri_vertex_indices[tri_index]
+
+        start = int(2)
+        end = int(2)
+
+        for k in range(2):
+            v = tri_vidx[k]
+            if edge_vidx[1] == v:
+                end = k
+            elif edge_vidx[0] == v:
+                start = k
+
+        return wp.where(tri_coords[start] + tri_coords[end] > 0.999, Coords(tri_coords[end], 0.0, 0.0), Coords(OUTSIDE))
+
+    def _build_topology(self, temporary_store: TemporaryStore):
+        from warp.fem.utils import compress_node_indices, host_read_at_index, masked_indices
+        from warp.utils import array_scan
+
+        device = self.tri_vertex_indices.device
+
+        vertex_tri_offsets, vertex_tri_indices = compress_node_indices(
+            self.vertex_count(), self.tri_vertex_indices, temporary_store=temporary_store
+        )
+        self._vertex_tri_offsets = vertex_tri_offsets.detach()
+        self._vertex_tri_indices = vertex_tri_indices.detach()
+
+        vertex_start_edge_count = borrow_temporary(temporary_store, dtype=int, device=device, shape=self.vertex_count())
+        vertex_start_edge_count.array.zero_()
+        vertex_start_edge_offsets = borrow_temporary_like(vertex_start_edge_count, temporary_store=temporary_store)
+
+        vertex_edge_ends = borrow_temporary(temporary_store, dtype=int, device=device, shape=(3 * self.cell_count()))
+        vertex_edge_tris = borrow_temporary(temporary_store, dtype=int, device=device, shape=(3 * self.cell_count(), 2))
+
+        # Count face edges starting at each vertex
+        wp.launch(
+            kernel=Trimesh._count_starting_edges_kernel,
+            device=device,
+            dim=self.cell_count(),
+            inputs=[self.tri_vertex_indices, vertex_start_edge_count.array],
+        )
+
+        array_scan(in_array=vertex_start_edge_count.array, out_array=vertex_start_edge_offsets.array, inclusive=False)
+
+        # Count number of unique edges (deduplicate across faces)
+        vertex_unique_edge_count = vertex_start_edge_count
+        wp.launch(
+            kernel=Trimesh._count_unique_starting_edges_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                self._vertex_tri_offsets,
+                self._vertex_tri_indices,
+                self.tri_vertex_indices,
+                vertex_start_edge_offsets.array,
+                vertex_unique_edge_count.array,
+                vertex_edge_ends.array,
+                vertex_edge_tris.array,
+            ],
+        )
+
+        vertex_unique_edge_offsets = borrow_temporary_like(vertex_start_edge_offsets, temporary_store=temporary_store)
+        array_scan(in_array=vertex_start_edge_count.array, out_array=vertex_unique_edge_offsets.array, inclusive=False)
+
+        # Get back edge count to host
+        edge_count = int(
+            host_read_at_index(
+                vertex_unique_edge_offsets.array, self.vertex_count() - 1, temporary_store=temporary_store
+            )
+        )
+
+        self._edge_vertex_indices = wp.empty(shape=(edge_count,), dtype=wp.vec2i, device=device)
+        self._edge_tri_indices = wp.empty(shape=(edge_count,), dtype=wp.vec2i, device=device)
+
+        boundary_mask = borrow_temporary(temporary_store=temporary_store, shape=(edge_count,), dtype=int, device=device)
+
+        # Compress edge data
+        wp.launch(
+            kernel=Trimesh._compress_edges_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                vertex_start_edge_offsets.array,
+                vertex_unique_edge_offsets.array,
+                vertex_unique_edge_count.array,
+                vertex_edge_ends.array,
+                vertex_edge_tris.array,
+                self._edge_vertex_indices,
+                self._edge_tri_indices,
+                boundary_mask.array,
+            ],
+        )
+
+        vertex_start_edge_offsets.release()
+        vertex_unique_edge_offsets.release()
+        vertex_unique_edge_count.release()
+        vertex_edge_ends.release()
+        vertex_edge_tris.release()
+
+        boundary_edge_indices, _ = masked_indices(boundary_mask.array, temporary_store=temporary_store)
+        self._boundary_edge_indices = boundary_edge_indices.detach()
+
+        boundary_mask.release()
+
+    @wp.kernel
+    def _count_starting_edges_kernel(
+        tri_vertex_indices: wp.array2d(dtype=int), vertex_start_edge_count: wp.array(dtype=int)
+    ):
+        t = wp.tid()
+        for k in range(3):
+            v0 = tri_vertex_indices[t, k]
+            v1 = tri_vertex_indices[t, (k + 1) % 3]
+
+            if v0 < v1:
+                wp.atomic_add(vertex_start_edge_count, v0, 1)
+            else:
+                wp.atomic_add(vertex_start_edge_count, v1, 1)
+
+    @wp.func
+    def _find(
+        needle: int,
+        values: wp.array(dtype=int),
+        beg: int,
+        end: int,
+    ):
+        for i in range(beg, end):
+            if values[i] == needle:
+                return i
+
+        return -1
+
+    @wp.kernel
+    def _count_unique_starting_edges_kernel(
+        vertex_tri_offsets: wp.array(dtype=int),
+        vertex_tri_indices: wp.array(dtype=int),
+        tri_vertex_indices: wp.array2d(dtype=int),
+        vertex_start_edge_offsets: wp.array(dtype=int),
+        vertex_start_edge_count: wp.array(dtype=int),
+        edge_ends: wp.array(dtype=int),
+        edge_tris: wp.array2d(dtype=int),
+    ):
+        v = wp.tid()
+
+        edge_beg = vertex_start_edge_offsets[v]
+
+        tri_beg = vertex_tri_offsets[v]
+        tri_end = vertex_tri_offsets[v + 1]
+
+        edge_cur = edge_beg
+
+        for tri in range(tri_beg, tri_end):
+            t = vertex_tri_indices[tri]
+
+            for k in range(3):
+                v0 = tri_vertex_indices[t, k]
+                v1 = tri_vertex_indices[t, (k + 1) % 3]
+
+                if v == wp.min(v0, v1):
+                    other_v = wp.max(v0, v1)
+
+                    # Check if other_v has been seen
+                    seen_idx = Trimesh._find(other_v, edge_ends, edge_beg, edge_cur)
+
+                    if seen_idx == -1:
+                        edge_ends[edge_cur] = other_v
+                        edge_tris[edge_cur, 0] = t
+                        edge_tris[edge_cur, 1] = t
+                        edge_cur += 1
+                    else:
+                        edge_tris[seen_idx, 1] = t
+
+        vertex_start_edge_count[v] = edge_cur - edge_beg
+
+    @wp.kernel
+    def _compress_edges_kernel(
+        vertex_start_edge_offsets: wp.array(dtype=int),
+        vertex_unique_edge_offsets: wp.array(dtype=int),
+        vertex_unique_edge_count: wp.array(dtype=int),
+        uncompressed_edge_ends: wp.array(dtype=int),
+        uncompressed_edge_tris: wp.array2d(dtype=int),
+        edge_vertex_indices: wp.array(dtype=wp.vec2i),
+        edge_tri_indices: wp.array(dtype=wp.vec2i),
+        boundary_mask: wp.array(dtype=int),
+    ):
+        v = wp.tid()
+
+        start_beg = vertex_start_edge_offsets[v]
+        unique_beg = vertex_unique_edge_offsets[v]
+        unique_count = vertex_unique_edge_count[v]
+
+        for e in range(unique_count):
+            src_index = start_beg + e
+            edge_index = unique_beg + e
+
+            edge_vertex_indices[edge_index] = wp.vec2i(v, uncompressed_edge_ends[src_index])
+
+            t0 = uncompressed_edge_tris[src_index, 0]
+            t1 = uncompressed_edge_tris[src_index, 1]
+            edge_tri_indices[edge_index] = wp.vec2i(t0, t1)
+            if t0 == t1:
+                boundary_mask[edge_index] = 1
+            else:
+                boundary_mask[edge_index] = 0
+
+    @wp.kernel
+    def _compute_tri_bounds(
+        tri_vertex_indices: wp.array2d(dtype=int),
+        positions: wp.array(dtype=wp.vec2),
+        lowers: wp.array(dtype=wp.vec3),
+        uppers: wp.array(dtype=wp.vec3),
+    ):
+        t = wp.tid()
+        p0 = _bvh_vec(positions[tri_vertex_indices[t, 0]])
+        p1 = _bvh_vec(positions[tri_vertex_indices[t, 1]])
+        p2 = _bvh_vec(positions[tri_vertex_indices[t, 2]])
+
+        lowers[t] = wp.vec3(
+            wp.min(wp.min(p0[0], p1[0]), p2[0]),
+            wp.min(wp.min(p0[1], p1[1]), p2[1]),
+            wp.min(wp.min(p0[2], p1[2]), p2[2]),
+        )
+        uppers[t] = wp.vec3(
+            wp.max(wp.max(p0[0], p1[0]), p2[0]),
+            wp.max(wp.max(p0[1], p1[1]), p2[1]),
+            wp.max(wp.max(p0[2], p1[2]), p2[2]),
+        )
+
+
+@wp.struct
+class Trimesh2DCellArg:
+    topology: TrimeshCellArg
+    positions: wp.array(dtype=wp.vec2)
+
+
+@wp.struct
+class Trimesh2DSideArg:
+    topology: TrimeshSideArg
+    positions: wp.array(dtype=wp.vec2)
+
+
+class Trimesh2D(Trimesh):
+    """2D Triangular mesh geometry"""
+
+    dimension = 2
+    CellArg = Trimesh2DCellArg
+    SideArg = Trimesh2DSideArg
+
+    @wp.func
+    def cell_position(args: CellArg, s: Sample):
+        tri_idx = args.topology.tri_vertex_indices[s.element_index]
+        return (
+            s.element_coords[0] * args.positions[tri_idx[0]]
+            + s.element_coords[1] * args.positions[tri_idx[1]]
+            + s.element_coords[2] * args.positions[tri_idx[2]]
+        )
+
+    @wp.func
+    def cell_deformation_gradient(args: CellArg, s: Sample):
+        tri_idx = args.topology.tri_vertex_indices[s.element_index]
+        p0 = args.positions[tri_idx[0]]
+        p1 = args.positions[tri_idx[1]]
+        p2 = args.positions[tri_idx[2]]
+        return wp.matrix_from_cols(p1 - p0, p2 - p0)
+
+    @wp.func
+    def cell_lookup(args: CellArg, pos: wp.vec2):
+        closest_dist, closest_tri, closest_coords = Trimesh._bvh_lookup(args.topology, args.positions, pos)
+
+        return make_free_sample(closest_tri, closest_coords)
+
+    @wp.func
+    def cell_lookup(args: CellArg, pos: wp.vec2, guess: Sample):
+        closest_dist, closest_tri, closest_coords = Trimesh._bvh_lookup(args.topology, args.positions, pos)
+
+        if closest_tri == NULL_ELEMENT_INDEX:
+            closest_dist, closest_tri, closest_coords = Trimesh._cell_neighbor_lookup(
+                args.topology, args.positions, pos, guess.element_index
+            )
+
+        return make_free_sample(closest_tri, closest_coords)
+
+    @wp.func
+    def side_position(args: SideArg, s: Sample):
+        edge_idx = args.topology.edge_vertex_indices[s.element_index]
+        return (1.0 - s.element_coords[0]) * args.positions[edge_idx[0]] + s.element_coords[0] * args.positions[
+            edge_idx[1]
+        ]
+
+    @wp.func
+    def side_deformation_gradient(args: SideArg, s: Sample):
+        edge_idx = args.topology.edge_vertex_indices[s.element_index]
+        v0 = args.positions[edge_idx[0]]
+        v1 = args.positions[edge_idx[1]]
+        return v1 - v0
+
+    @wp.func
+    def side_normal(args: SideArg, s: Sample):
+        edge_idx = args.topology.edge_vertex_indices[s.element_index]
+        v0 = args.positions[edge_idx[0]]
+        v1 = args.positions[edge_idx[1]]
+        e = v1 - v0
+
+        return wp.normalize(wp.vec2(-e[1], e[0]))
+
+    @wp.func
+    def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.topology.edge_tri_indices[side_index][0]
+
+    @wp.func
+    def side_outer_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.topology.edge_tri_indices[side_index][1]
+
+    @wp.func
+    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        inner_cell_index = Trimesh2D.side_inner_cell_index(args, side_index)
+        return Trimesh._edge_to_tri_coords(args.topology, side_index, inner_cell_index, side_coords)
+
+    @wp.func
+    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        outer_cell_index = Trimesh2D.side_outer_cell_index(args, side_index)
+        return Trimesh._edge_to_tri_coords(args.topology, side_index, outer_cell_index, side_coords)
+
+    @wp.func
+    def side_from_cell_coords(
+        args: SideArg,
+        side_index: ElementIndex,
+        tri_index: ElementIndex,
+        tri_coords: Coords,
+    ):
+        return Trimesh._tri_to_edge_coords(args.topology, side_index, tri_index, tri_coords)
+
+    @wp.func
+    def side_to_cell_arg(side_arg: SideArg):
+        return Trimesh2DCellArg(side_arg.topology.cell_arg, side_arg.positions)
+
+    @wp.kernel
+    def _orient_edges(
+        edge_vertex_indices: wp.array(dtype=wp.vec2i),
+        edge_tri_indices: wp.array(dtype=wp.vec2i),
+        tri_vertex_indices: wp.array2d(dtype=int),
+        positions: wp.array(dtype=wp.vec2),
+    ):
+        e = wp.tid()
+
+        tri = edge_tri_indices[e][0]
+
+        tri_vidx = tri_vertex_indices[tri]
+        edge_vidx = edge_vertex_indices[e]
+
+        tri_centroid = (positions[tri_vidx[0]] + positions[tri_vidx[1]] + positions[tri_vidx[2]]) / 3.0
+
+        v0 = positions[edge_vidx[0]]
+        v1 = positions[edge_vidx[1]]
+
+        edge_center = 0.5 * (v1 + v0)
+        edge_vec = v1 - v0
+        edge_normal = wp.vec2(-edge_vec[1], edge_vec[0])
+
+        # if edge normal points toward first triangle centroid, flip indices
+        if wp.dot(tri_centroid - edge_center, edge_normal) > 0.0:
+            edge_vertex_indices[e] = wp.vec2i(edge_vidx[1], edge_vidx[0])
+
+
+@wp.struct
+class Trimesh3DCellArg:
+    topology: TrimeshCellArg
+    positions: wp.array(dtype=wp.vec3)
+
+
+@wp.struct
+class Trimesh3DSideArg:
+    topology: TrimeshSideArg
+    positions: wp.array(dtype=wp.vec3)
+
+
+class Trimesh3D(Trimesh):
+    """3D Triangular mesh geometry"""
+
+    dimension = 3
+    CellArg = Trimesh3DCellArg
+    SideArg = Trimesh3DSideArg
+
+    @wp.func
+    def cell_position(args: CellArg, s: Sample):
+        tri_idx = args.topology.tri_vertex_indices[s.element_index]
+        return (
+            s.element_coords[0] * args.positions[tri_idx[0]]
+            + s.element_coords[1] * args.positions[tri_idx[1]]
+            + s.element_coords[2] * args.positions[tri_idx[2]]
+        )
+
+    @wp.func
+    def cell_deformation_gradient(args: CellArg, s: Sample):
+        tri_idx = args.topology.tri_vertex_indices[s.element_index]
+        p0 = args.positions[tri_idx[0]]
+        p1 = args.positions[tri_idx[1]]
+        p2 = args.positions[tri_idx[2]]
+        return wp.matrix_from_cols(p1 - p0, p2 - p0)
+
+    @wp.func
+    def cell_lookup(args: CellArg, pos: wp.vec3):
+        closest_dist, closest_tri, closest_coords = Trimesh._bvh_lookup(args.topology, args.positions, pos)
+
+        return make_free_sample(closest_tri, closest_coords)
+
+    @wp.func
+    def cell_lookup(args: CellArg, pos: wp.vec3, guess: Sample):
+        closest_dist, closest_tri, closest_coords = Trimesh._bvh_lookup(args.topology, args.positions, pos)
+
+        if closest_tri == NULL_ELEMENT_INDEX:
+            closest_dist, closest_tri, closest_coords = Trimesh._cell_neighbor_lookup(
+                args.topology, args.positions, pos, guess.element_index
+            )
+
+        return make_free_sample(closest_tri, closest_coords)
+
+    @wp.func
+    def side_position(args: SideArg, s: Sample):
+        edge_idx = args.topology.edge_vertex_indices[s.element_index]
+        return (1.0 - s.element_coords[0]) * args.positions[edge_idx[0]] + s.element_coords[0] * args.positions[
+            edge_idx[1]
+        ]
+
+    @wp.func
+    def side_deformation_gradient(args: SideArg, s: Sample):
+        edge_idx = args.topology.edge_vertex_indices[s.element_index]
+        v0 = args.positions[edge_idx[0]]
+        v1 = args.positions[edge_idx[1]]
+        return v1 - v0
+
+    @wp.func
+    def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.topology.edge_tri_indices[side_index][0]
+
+    @wp.func
+    def side_outer_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.topology.edge_tri_indices[side_index][1]
+
+    @wp.func
+    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        inner_cell_index = Trimesh3D.side_inner_cell_index(args, side_index)
+        return Trimesh._edge_to_tri_coords(args.topology, side_index, inner_cell_index, side_coords)
+
+    @wp.func
+    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        outer_cell_index = Trimesh3D.side_outer_cell_index(args, side_index)
+        return Trimesh._edge_to_tri_coords(args.topology, side_index, outer_cell_index, side_coords)
+
+    @wp.func
+    def side_from_cell_coords(
+        args: SideArg,
+        side_index: ElementIndex,
+        tri_index: ElementIndex,
+        tri_coords: Coords,
+    ):
+        return Trimesh._tri_to_edge_coords(args.topology, side_index, tri_index, tri_coords)
+
+    @wp.func
+    def side_to_cell_arg(side_arg: SideArg):
+        return Trimesh3DCellArg(side_arg.topology.cell_arg, side_arg.positions)
+
+    @wp.kernel
+    def _orient_edges(
+        edge_vertex_indices: wp.array(dtype=wp.vec2i),
+        edge_tri_indices: wp.array(dtype=wp.vec2i),
+        tri_vertex_indices: wp.array2d(dtype=int),
+        positions: wp.array(dtype=wp.vec3),
+    ):
+        e = wp.tid()
+
+        tri = edge_tri_indices[e][0]
+
+        tri_vidx = tri_vertex_indices[tri]
+        edge_vidx = edge_vertex_indices[e]
+
+        t0 = positions[tri_vidx[0]]
+        t1 = positions[tri_vidx[1]]
+        t2 = positions[tri_vidx[2]]
+
+        tri_centroid = (t0 + t1 + t2) / 3.0
+        tri_normal = wp.cross(t1 - t0, t2 - t0)
+
+        v0 = positions[edge_vidx[0]]
+        v1 = positions[edge_vidx[1]]
+
+        edge_center = 0.5 * (v1 + v0)
+        edge_vec = v1 - v0
+        edge_normal = wp.cross(edge_vec, tri_normal)
+
+        # if edge normal points toward first triangle centroid, flip indices
+        if wp.dot(tri_centroid - edge_center, edge_normal) > 0.0:
+            edge_vertex_indices[e] = wp.vec2i(edge_vidx[1], edge_vidx[0])