warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp/fem/geometry/hexmesh.py

@@ -0,0 +1,911 @@
+# SPDX-FileCopyrightText: Copyright (c) 2023 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 Optional
+
+import warp as wp
+from warp.fem.cache import (
+    TemporaryStore,
+    borrow_temporary,
+    borrow_temporary_like,
+    cached_arg_value,
+)
+from warp.fem.types import OUTSIDE, Coords, ElementIndex, Sample
+
+from .element import Cube, Square
+from .geometry import Geometry
+
+
+@wp.struct
+class HexmeshCellArg:
+    hex_vertex_indices: wp.array2d(dtype=int)
+    positions: wp.array(dtype=wp.vec3)
+
+    # for neighbor cell lookup
+    vertex_hex_offsets: wp.array(dtype=int)
+    vertex_hex_indices: wp.array(dtype=int)
+
+
+@wp.struct
+class HexmeshSideArg:
+    cell_arg: HexmeshCellArg
+    face_vertex_indices: wp.array(dtype=wp.vec4i)
+    face_hex_indices: wp.array(dtype=wp.vec2i)
+    face_hex_face_orientation: wp.array(dtype=wp.vec4i)
+
+
+FACE_VERTEX_INDICES = wp.constant(
+    wp.mat(shape=(6, 4), dtype=int)(
+        [
+            [0, 4, 7, 3],  # x = 0
+            [1, 2, 6, 5],  # x = 1
+            [0, 1, 5, 4],  # y = 0
+            [3, 7, 6, 2],  # y = 1
+            [0, 3, 2, 1],  # z = 0
+            [4, 5, 6, 7],  # z = 1
+        ]
+    )
+)
+
+EDGE_VERTEX_INDICES = wp.constant(
+    wp.mat(shape=(12, 2), dtype=int)(
+        [
+            [0, 1],
+            [1, 2],
+            [3, 2],
+            [0, 3],
+            [4, 5],
+            [5, 6],
+            [7, 6],
+            [4, 7],
+            [0, 4],
+            [1, 5],
+            [2, 6],
+            [3, 7],
+        ]
+    )
+)
+
+# orthogonal transform for face coordinates given first vertex + winding
+# (two rows per entry)
+
+FACE_ORIENTATION = [
+    [1, 0],  # FV: 0, det: +
+    [0, 1],
+    [0, 1],  # FV: 0, det: -
+    [1, 0],
+    [0, -1],  # FV: 1, det: +
+    [1, 0],
+    [-1, 0],  # FV: 1, det: -
+    [0, 1],
+    [-1, 0],  # FV: 2, det: +
+    [0, -1],
+    [0, -1],  # FV: 2, det: -
+    [-1, 0],
+    [0, 1],  # FV: 3, det: +
+    [-1, 0],
+    [1, 0],  # FV: 3, det: -
+    [0, -1],
+]
+
+FACE_TRANSLATION = [
+    [0, 0],
+    [1, 0],
+    [1, 1],
+    [0, 1],
+]
+
+# local face coordinate system
+_FACE_COORD_INDICES = wp.constant(
+    wp.mat(shape=(6, 4), dtype=int)(
+        [
+            [2, 1, 0, 0],  # 0: z y -x
+            [1, 2, 0, 1],  # 1: y z  x-1
+            [0, 2, 1, 0],  # 2: x z -y
+            [2, 0, 1, 1],  # 3: z x  y-1
+            [1, 0, 2, 0],  # 4: y x -z
+            [0, 1, 2, 1],  # 5: x y  z-1
+        ]
+    )
+)
+
+_FACE_ORIENTATION_F = wp.constant(wp.mat(shape=(16, 2), dtype=float)(FACE_ORIENTATION))
+_FACE_TRANSLATION_F = wp.constant(wp.mat(shape=(4, 2), dtype=float)(FACE_TRANSLATION))
+
+
+class Hexmesh(Geometry):
+    """Hexahedral mesh geometry"""
+
+    dimension = 3
+
+    def __init__(
+        self, hex_vertex_indices: wp.array, positions: wp.array, temporary_store: Optional[TemporaryStore] = None
+    ):
+        """
+        Constructs a tetrahedral mesh.
+
+        Args:
+            hex_vertex_indices: warp array of shape (num_hexes, 8) containing vertex indices for each hex
+                following standard ordering (bottom face vertices in counter-clockwise order, then similarly for upper face)
+            positions: warp array of shape (num_vertices, 3) containing 3d position for each vertex
+            temporary_store: shared pool from which to allocate temporary arrays
+        """
+
+        self.hex_vertex_indices = hex_vertex_indices
+        self.positions = positions
+
+        self._face_vertex_indices: wp.array = None
+        self._face_hex_indices: wp.array = None
+        self._face_hex_face_orientation: wp.array = None
+        self._vertex_hex_offsets: wp.array = None
+        self._vertex_hex_indices: wp.array = None
+        self._hex_edge_indices: wp.array = None
+        self._edge_count = 0
+        self._build_topology(temporary_store)
+
+        self._make_default_dependent_implementations()
+
+    def cell_count(self):
+        return self.hex_vertex_indices.shape[0]
+
+    def vertex_count(self):
+        return self.positions.shape[0]
+
+    def side_count(self):
+        return self._face_vertex_indices.shape[0]
+
+    def edge_count(self):
+        if self._hex_edge_indices is None:
+            self._compute_hex_edges()
+        return self._edge_count
+
+    def boundary_side_count(self):
+        return self._boundary_face_indices.shape[0]
+
+    def reference_cell(self) -> Cube:
+        return Cube()
+
+    def reference_side(self) -> Square:
+        return Square()
+
+    @property
+    def hex_edge_indices(self) -> wp.array:
+        if self._hex_edge_indices is None:
+            self._compute_hex_edges()
+        return self._hex_edge_indices
+
+    @property
+    def face_hex_indices(self) -> wp.array:
+        return self._face_hex_indices
+
+    @property
+    def face_vertex_indices(self) -> wp.array:
+        return self._face_vertex_indices
+
+    CellArg = HexmeshCellArg
+    SideArg = HexmeshSideArg
+
+    @wp.struct
+    class SideIndexArg:
+        boundary_face_indices: wp.array(dtype=int)
+
+    # Geometry device interface
+
+    @cached_arg_value
+    def cell_arg_value(self, device) -> CellArg:
+        args = self.CellArg()
+
+        args.hex_vertex_indices = self.hex_vertex_indices.to(device)
+        args.positions = self.positions.to(device)
+        args.vertex_hex_offsets = self._vertex_hex_offsets.to(device)
+        args.vertex_hex_indices = self._vertex_hex_indices.to(device)
+
+        return args
+
+    @wp.func
+    def cell_position(args: CellArg, s: Sample):
+        hex_idx = args.hex_vertex_indices[s.element_index]
+
+        w_p = s.element_coords
+        w_m = Coords(1.0) - s.element_coords
+
+        # 0 : m m m
+        # 1 : p m m
+        # 2 : p p m
+        # 3 : m p m
+        # 4 : m m p
+        # 5 : p m p
+        # 6 : p p p
+        # 7 : m p p
+
+        return (
+            w_m[0] * w_m[1] * w_m[2] * args.positions[hex_idx[0]]
+            + w_p[0] * w_m[1] * w_m[2] * args.positions[hex_idx[1]]
+            + w_p[0] * w_p[1] * w_m[2] * args.positions[hex_idx[2]]
+            + w_m[0] * w_p[1] * w_m[2] * args.positions[hex_idx[3]]
+            + w_m[0] * w_m[1] * w_p[2] * args.positions[hex_idx[4]]
+            + w_p[0] * w_m[1] * w_p[2] * args.positions[hex_idx[5]]
+            + w_p[0] * w_p[1] * w_p[2] * args.positions[hex_idx[6]]
+            + w_m[0] * w_p[1] * w_p[2] * args.positions[hex_idx[7]]
+        )
+
+    @wp.func
+    def cell_deformation_gradient(cell_arg: CellArg, s: Sample):
+        """Deformation gradient at `coords`"""
+        """Transposed deformation gradient at `coords`"""
+        hex_idx = cell_arg.hex_vertex_indices[s.element_index]
+
+        w_p = s.element_coords
+        w_m = Coords(1.0) - s.element_coords
+
+        return (
+            wp.outer(cell_arg.positions[hex_idx[0]], wp.vec3(-w_m[1] * w_m[2], -w_m[0] * w_m[2], -w_m[0] * w_m[1]))
+            + wp.outer(cell_arg.positions[hex_idx[1]], wp.vec3(w_m[1] * w_m[2], -w_p[0] * w_m[2], -w_p[0] * w_m[1]))
+            + wp.outer(cell_arg.positions[hex_idx[2]], wp.vec3(w_p[1] * w_m[2], w_p[0] * w_m[2], -w_p[0] * w_p[1]))
+            + wp.outer(cell_arg.positions[hex_idx[3]], wp.vec3(-w_p[1] * w_m[2], w_m[0] * w_m[2], -w_m[0] * w_p[1]))
+            + wp.outer(cell_arg.positions[hex_idx[4]], wp.vec3(-w_m[1] * w_p[2], -w_m[0] * w_p[2], w_m[0] * w_m[1]))
+            + wp.outer(cell_arg.positions[hex_idx[5]], wp.vec3(w_m[1] * w_p[2], -w_p[0] * w_p[2], w_p[0] * w_m[1]))
+            + wp.outer(cell_arg.positions[hex_idx[6]], wp.vec3(w_p[1] * w_p[2], w_p[0] * w_p[2], w_p[0] * w_p[1]))
+            + wp.outer(cell_arg.positions[hex_idx[7]], wp.vec3(-w_p[1] * w_p[2], w_m[0] * w_p[2], w_m[0] * w_p[1]))
+        )
+
+    @cached_arg_value
+    def side_index_arg_value(self, device) -> SideIndexArg:
+        args = self.SideIndexArg()
+
+        args.boundary_face_indices = self._boundary_face_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_face_indices[boundary_side_index]
+
+    @cached_arg_value
+    def side_arg_value(self, device) -> CellArg:
+        args = self.SideArg()
+
+        args.cell_arg = self.cell_arg_value(device)
+        args.face_vertex_indices = self._face_vertex_indices.to(device)
+        args.face_hex_indices = self._face_hex_indices.to(device)
+        args.face_hex_face_orientation = self._face_hex_face_orientation.to(device)
+
+        return args
+
+    @wp.func
+    def side_position(args: SideArg, s: Sample):
+        face_idx = args.face_vertex_indices[s.element_index]
+
+        w_p = s.element_coords
+        w_m = Coords(1.0) - s.element_coords
+
+        return (
+            w_m[0] * w_m[1] * args.cell_arg.positions[face_idx[0]]
+            + w_p[0] * w_m[1] * args.cell_arg.positions[face_idx[1]]
+            + w_p[0] * w_p[1] * args.cell_arg.positions[face_idx[2]]
+            + w_m[0] * w_p[1] * args.cell_arg.positions[face_idx[3]]
+        )
+
+    @wp.func
+    def _side_deformation_vecs(args: SideArg, side_index: ElementIndex, coords: Coords):
+        face_idx = args.face_vertex_indices[side_index]
+
+        p0 = args.cell_arg.positions[face_idx[0]]
+        p1 = args.cell_arg.positions[face_idx[1]]
+        p2 = args.cell_arg.positions[face_idx[2]]
+        p3 = args.cell_arg.positions[face_idx[3]]
+
+        w_p = coords
+        w_m = Coords(1.0) - coords
+
+        v1 = w_m[1] * (p1 - p0) + w_p[1] * (p2 - p3)
+        v2 = w_p[0] * (p2 - p1) + w_m[0] * (p3 - p0)
+        return v1, v2
+
+    @wp.func
+    def side_deformation_gradient(args: SideArg, s: Sample):
+        """Transposed side deformation gradient at `coords`"""
+        v1, v2 = Hexmesh._side_deformation_vecs(args, s.element_index, s.element_coords)
+        return wp.matrix_from_cols(v1, v2)
+
+    @wp.func
+    def side_inner_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.face_hex_indices[side_index][0]
+
+    @wp.func
+    def side_outer_cell_index(arg: SideArg, side_index: ElementIndex):
+        return arg.face_hex_indices[side_index][1]
+
+    @wp.func
+    def _hex_local_face_coords(hex_coords: Coords, face_index: int):
+        # Coordinatex in local face coordinates system
+        # Sign of last coordinate (out of face)
+
+        face_coords = wp.vec2(
+            hex_coords[_FACE_COORD_INDICES[face_index, 0]], hex_coords[_FACE_COORD_INDICES[face_index, 1]]
+        )
+
+        normal_coord = hex_coords[_FACE_COORD_INDICES[face_index, 2]]
+        normal_coord = wp.where(_FACE_COORD_INDICES[face_index, 3] == 0, -normal_coord, normal_coord - 1.0)
+
+        return face_coords, normal_coord
+
+    @wp.func
+    def _local_face_hex_coords(face_coords: wp.vec2, face_index: int):
+        # Coordinates in hex from local face coordinates system
+
+        hex_coords = Coords()
+        hex_coords[_FACE_COORD_INDICES[face_index, 0]] = face_coords[0]
+        hex_coords[_FACE_COORD_INDICES[face_index, 1]] = face_coords[1]
+        hex_coords[_FACE_COORD_INDICES[face_index, 2]] = wp.where(_FACE_COORD_INDICES[face_index, 3] == 0, 0.0, 1.0)
+
+        return hex_coords
+
+    @wp.func
+    def _local_from_oriented_face_coords(ori: int, oriented_coords: Coords):
+        fv = ori // 2
+        return (oriented_coords[0] - _FACE_TRANSLATION_F[fv, 0]) * _FACE_ORIENTATION_F[2 * ori] + (
+            oriented_coords[1] - _FACE_TRANSLATION_F[fv, 1]
+        ) * _FACE_ORIENTATION_F[2 * ori + 1]
+
+    @wp.func
+    def _local_to_oriented_face_coords(ori: int, coords: wp.vec2):
+        fv = ori // 2
+        return Coords(
+            wp.dot(_FACE_ORIENTATION_F[2 * ori], coords) + _FACE_TRANSLATION_F[fv, 0],
+            wp.dot(_FACE_ORIENTATION_F[2 * ori + 1], coords) + _FACE_TRANSLATION_F[fv, 1],
+            0.0,
+        )
+
+    @wp.func
+    def face_to_hex_coords(local_face_index: int, face_orientation: int, side_coords: Coords):
+        local_coords = Hexmesh._local_from_oriented_face_coords(face_orientation, side_coords)
+        return Hexmesh._local_face_hex_coords(local_coords, local_face_index)
+
+    @wp.func
+    def side_inner_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        local_face_index = args.face_hex_face_orientation[side_index][0]
+        face_orientation = args.face_hex_face_orientation[side_index][1]
+
+        return Hexmesh.face_to_hex_coords(local_face_index, face_orientation, side_coords)
+
+    @wp.func
+    def side_outer_cell_coords(args: SideArg, side_index: ElementIndex, side_coords: Coords):
+        local_face_index = args.face_hex_face_orientation[side_index][2]
+        face_orientation = args.face_hex_face_orientation[side_index][3]
+
+        return Hexmesh.face_to_hex_coords(local_face_index, face_orientation, side_coords)
+
+    @wp.func
+    def side_from_cell_coords(args: SideArg, side_index: ElementIndex, hex_index: ElementIndex, hex_coords: Coords):
+        if Hexmesh.side_inner_cell_index(args, side_index) == hex_index:
+            local_face_index = args.face_hex_face_orientation[side_index][0]
+            face_orientation = args.face_hex_face_orientation[side_index][1]
+        else:
+            local_face_index = args.face_hex_face_orientation[side_index][2]
+            face_orientation = args.face_hex_face_orientation[side_index][3]
+
+        face_coords, normal_coord = Hexmesh._hex_local_face_coords(hex_coords, local_face_index)
+        return wp.where(
+            normal_coord == 0.0, Hexmesh._local_to_oriented_face_coords(face_orientation, face_coords), Coords(OUTSIDE)
+        )
+
+    @wp.func
+    def side_to_cell_arg(side_arg: SideArg):
+        return side_arg.cell_arg
+
+    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.hex_vertex_indices.device
+
+        vertex_hex_offsets, vertex_hex_indices = compress_node_indices(
+            self.vertex_count(), self.hex_vertex_indices, temporary_store=temporary_store
+        )
+        self._vertex_hex_offsets = vertex_hex_offsets.detach()
+        self._vertex_hex_indices = vertex_hex_indices.detach()
+
+        vertex_start_face_count = borrow_temporary(temporary_store, dtype=int, device=device, shape=self.vertex_count())
+        vertex_start_face_count.array.zero_()
+        vertex_start_face_offsets = borrow_temporary_like(vertex_start_face_count, temporary_store=temporary_store)
+
+        vertex_face_other_vs = borrow_temporary(
+            temporary_store, dtype=wp.vec3i, device=device, shape=(8 * self.cell_count())
+        )
+        vertex_face_hexes = borrow_temporary(
+            temporary_store, dtype=int, device=device, shape=(8 * self.cell_count(), 2)
+        )
+
+        # Count face edges starting at each vertex
+        wp.launch(
+            kernel=Hexmesh._count_starting_faces_kernel,
+            device=device,
+            dim=self.cell_count(),
+            inputs=[self.hex_vertex_indices, vertex_start_face_count.array],
+        )
+
+        array_scan(in_array=vertex_start_face_count.array, out_array=vertex_start_face_offsets.array, inclusive=False)
+
+        # Count number of unique edges (deduplicate across faces)
+        vertex_unique_face_count = vertex_start_face_count
+        wp.launch(
+            kernel=Hexmesh._count_unique_starting_faces_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                self._vertex_hex_offsets,
+                self._vertex_hex_indices,
+                self.hex_vertex_indices,
+                vertex_start_face_offsets.array,
+                vertex_unique_face_count.array,
+                vertex_face_other_vs.array,
+                vertex_face_hexes.array,
+            ],
+        )
+
+        vertex_unique_face_offsets = borrow_temporary_like(vertex_start_face_offsets, temporary_store=temporary_store)
+        array_scan(in_array=vertex_start_face_count.array, out_array=vertex_unique_face_offsets.array, inclusive=False)
+
+        # Get back edge count to host
+        face_count = int(
+            host_read_at_index(
+                vertex_unique_face_offsets.array, self.vertex_count() - 1, temporary_store=temporary_store
+            )
+        )
+
+        self._face_vertex_indices = wp.empty(shape=(face_count,), dtype=wp.vec4i, device=device)
+        self._face_hex_indices = wp.empty(shape=(face_count,), dtype=wp.vec2i, device=device)
+        self._face_hex_face_orientation = wp.empty(shape=(face_count,), dtype=wp.vec4i, device=device)
+
+        boundary_mask = borrow_temporary(temporary_store, shape=(face_count,), dtype=int, device=device)
+
+        # Compress edge data
+        wp.launch(
+            kernel=Hexmesh._compress_faces_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                vertex_start_face_offsets.array,
+                vertex_unique_face_offsets.array,
+                vertex_unique_face_count.array,
+                vertex_face_other_vs.array,
+                vertex_face_hexes.array,
+                self._face_vertex_indices,
+                self._face_hex_indices,
+                boundary_mask.array,
+            ],
+        )
+
+        vertex_start_face_offsets.release()
+        vertex_unique_face_offsets.release()
+        vertex_unique_face_count.release()
+        vertex_face_other_vs.release()
+        vertex_face_hexes.release()
+
+        # Flip normals if necessary
+        wp.launch(
+            kernel=Hexmesh._flip_face_normals,
+            device=device,
+            dim=self.side_count(),
+            inputs=[self._face_vertex_indices, self._face_hex_indices, self.hex_vertex_indices, self.positions],
+        )
+
+        # Compute and store face orientation
+        wp.launch(
+            kernel=Hexmesh._compute_face_orientation,
+            device=device,
+            dim=self.side_count(),
+            inputs=[
+                self._face_vertex_indices,
+                self._face_hex_indices,
+                self.hex_vertex_indices,
+                self._face_hex_face_orientation,
+            ],
+        )
+
+        boundary_face_indices, _ = masked_indices(boundary_mask.array)
+        self._boundary_face_indices = boundary_face_indices.detach()
+
+    def _compute_hex_edges(self, temporary_store: Optional[TemporaryStore] = None):
+        from warp.fem.utils import host_read_at_index
+        from warp.utils import array_scan
+
+        device = self.hex_vertex_indices.device
+
+        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=(12 * self.cell_count()))
+
+        # Count face edges starting at each vertex
+        wp.launch(
+            kernel=Hexmesh._count_starting_edges_kernel,
+            device=device,
+            dim=self.cell_count(),
+            inputs=[self.hex_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=Hexmesh._count_unique_starting_edges_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                self._vertex_hex_offsets,
+                self._vertex_hex_indices,
+                self.hex_vertex_indices,
+                vertex_start_edge_offsets.array,
+                vertex_unique_edge_count.array,
+                vertex_edge_ends.array,
+            ],
+        )
+
+        vertex_unique_edge_offsets = borrow_temporary_like(
+            vertex_start_edge_offsets.array, 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
+        self._edge_count = int(
+            host_read_at_index(
+                vertex_unique_edge_offsets.array, self.vertex_count() - 1, temporary_store=temporary_store
+            )
+        )
+
+        self._hex_edge_indices = wp.empty(
+            dtype=int, device=self.hex_vertex_indices.device, shape=(self.cell_count(), 12)
+        )
+
+        # Compress edge data
+        wp.launch(
+            kernel=Hexmesh._compress_edges_kernel,
+            device=device,
+            dim=self.vertex_count(),
+            inputs=[
+                self._vertex_hex_offsets,
+                self._vertex_hex_indices,
+                self.hex_vertex_indices,
+                vertex_start_edge_offsets.array,
+                vertex_unique_edge_offsets.array,
+                vertex_unique_edge_count.array,
+                vertex_edge_ends.array,
+                self._hex_edge_indices,
+            ],
+        )
+
+        vertex_start_edge_offsets.release()
+        vertex_unique_edge_offsets.release()
+        vertex_unique_edge_count.release()
+        vertex_edge_ends.release()
+
+    @wp.kernel
+    def _count_starting_faces_kernel(
+        hex_vertex_indices: wp.array2d(dtype=int), vertex_start_face_count: wp.array(dtype=int)
+    ):
+        t = wp.tid()
+        for k in range(6):
+            vi = wp.vec4i(
+                hex_vertex_indices[t, FACE_VERTEX_INDICES[k, 0]],
+                hex_vertex_indices[t, FACE_VERTEX_INDICES[k, 1]],
+                hex_vertex_indices[t, FACE_VERTEX_INDICES[k, 2]],
+                hex_vertex_indices[t, FACE_VERTEX_INDICES[k, 3]],
+            )
+            vm = wp.min(vi)
+
+            for i in range(4):
+                if vm == vi[i]:
+                    wp.atomic_add(vertex_start_face_count, vm, 1)
+
+    @wp.func
+    def _face_sort(vidx: wp.vec4i, min_k: int):
+        v1 = vidx[(min_k + 1) % 4]
+        v2 = vidx[(min_k + 2) % 4]
+        v3 = vidx[(min_k + 3) % 4]
+
+        if v1 < v3:
+            return wp.vec3i(v1, v2, v3)
+        return wp.vec3i(v3, v2, v1)
+
+    @wp.func
+    def _find_face(
+        needle: wp.vec3i,
+        values: wp.array(dtype=wp.vec3i),
+        beg: int,
+        end: int,
+    ):
+        for i in range(beg, end):
+            if values[i] == needle:
+                return i
+
+        return -1
+
+    @wp.kernel
+    def _count_unique_starting_faces_kernel(
+        vertex_hex_offsets: wp.array(dtype=int),
+        vertex_hex_indices: wp.array(dtype=int),
+        hex_vertex_indices: wp.array2d(dtype=int),
+        vertex_start_face_offsets: wp.array(dtype=int),
+        vertex_start_face_count: wp.array(dtype=int),
+        face_other_vs: wp.array(dtype=wp.vec3i),
+        face_hexes: wp.array2d(dtype=int),
+    ):
+        v = wp.tid()
+
+        face_beg = vertex_start_face_offsets[v]
+
+        hex_beg = vertex_hex_offsets[v]
+        hex_end = vertex_hex_offsets[v + 1]
+
+        face_cur = face_beg
+
+        for hexa in range(hex_beg, hex_end):
+            hx = vertex_hex_indices[hexa]
+
+            for k in range(6):
+                vi = wp.vec4i(
+                    hex_vertex_indices[hx, FACE_VERTEX_INDICES[k, 0]],
+                    hex_vertex_indices[hx, FACE_VERTEX_INDICES[k, 1]],
+                    hex_vertex_indices[hx, FACE_VERTEX_INDICES[k, 2]],
+                    hex_vertex_indices[hx, FACE_VERTEX_INDICES[k, 3]],
+                )
+                min_i = int(wp.argmin(vi))
+
+                if v == vi[min_i]:
+                    other_v = Hexmesh._face_sort(vi, min_i)
+
+                    # Check if other_v has been seen
+                    seen_idx = Hexmesh._find_face(other_v, face_other_vs, face_beg, face_cur)
+
+                    if seen_idx == -1:
+                        face_other_vs[face_cur] = other_v
+                        face_hexes[face_cur, 0] = hx
+                        face_hexes[face_cur, 1] = hx
+                        face_cur += 1
+                    else:
+                        face_hexes[seen_idx, 1] = hx
+
+        vertex_start_face_count[v] = face_cur - face_beg
+
+    @wp.kernel
+    def _compress_faces_kernel(
+        vertex_start_face_offsets: wp.array(dtype=int),
+        vertex_unique_face_offsets: wp.array(dtype=int),
+        vertex_unique_face_count: wp.array(dtype=int),
+        uncompressed_face_other_vs: wp.array(dtype=wp.vec3i),
+        uncompressed_face_hexes: wp.array2d(dtype=int),
+        face_vertex_indices: wp.array(dtype=wp.vec4i),
+        face_hex_indices: wp.array(dtype=wp.vec2i),
+        boundary_mask: wp.array(dtype=int),
+    ):
+        v = wp.tid()
+
+        start_beg = vertex_start_face_offsets[v]
+        unique_beg = vertex_unique_face_offsets[v]
+        unique_count = vertex_unique_face_count[v]
+
+        for f in range(unique_count):
+            src_index = start_beg + f
+            face_index = unique_beg + f
+
+            face_vertex_indices[face_index] = wp.vec4i(
+                v,
+                uncompressed_face_other_vs[src_index][0],
+                uncompressed_face_other_vs[src_index][1],
+                uncompressed_face_other_vs[src_index][2],
+            )
+
+            hx0 = uncompressed_face_hexes[src_index, 0]
+            hx1 = uncompressed_face_hexes[src_index, 1]
+            face_hex_indices[face_index] = wp.vec2i(hx0, hx1)
+            if hx0 == hx1:
+                boundary_mask[face_index] = 1
+            else:
+                boundary_mask[face_index] = 0
+
+    @wp.kernel
+    def _flip_face_normals(
+        face_vertex_indices: wp.array(dtype=wp.vec4i),
+        face_hex_indices: wp.array(dtype=wp.vec2i),
+        hex_vertex_indices: wp.array2d(dtype=int),
+        positions: wp.array(dtype=wp.vec3),
+    ):
+        f = wp.tid()
+
+        hexa = face_hex_indices[f][0]
+
+        hex_vidx = hex_vertex_indices[hexa]
+        face_vidx = face_vertex_indices[f]
+
+        hex_centroid = (
+            positions[hex_vidx[0]]
+            + positions[hex_vidx[1]]
+            + positions[hex_vidx[2]]
+            + positions[hex_vidx[3]]
+            + positions[hex_vidx[4]]
+            + positions[hex_vidx[5]]
+            + positions[hex_vidx[6]]
+            + positions[hex_vidx[7]]
+        ) / 8.0
+
+        v0 = positions[face_vidx[0]]
+        v1 = positions[face_vidx[1]]
+        v2 = positions[face_vidx[2]]
+        v3 = positions[face_vidx[3]]
+
+        face_center = (v1 + v0 + v2 + v3) / 4.0
+        face_normal = wp.cross(v2 - v0, v3 - v1)
+
+        # if face normal points toward first tet centroid, flip indices
+        if wp.dot(hex_centroid - face_center, face_normal) > 0.0:
+            face_vertex_indices[f] = wp.vec4i(face_vidx[0], face_vidx[3], face_vidx[2], face_vidx[1])
+
+    @wp.func
+    def _find_face_orientation(face_vidx: wp.vec4i, hex_index: int, hex_vertex_indices: wp.array2d(dtype=int)):
+        hex_vidx = hex_vertex_indices[hex_index]
+
+        # Find local index in hex corresponding to face
+
+        face_min_i = int(wp.argmin(face_vidx))
+        face_other_v = Hexmesh._face_sort(face_vidx, face_min_i)
+
+        for k in range(6):
+            hex_face_vi = wp.vec4i(
+                hex_vidx[FACE_VERTEX_INDICES[k, 0]],
+                hex_vidx[FACE_VERTEX_INDICES[k, 1]],
+                hex_vidx[FACE_VERTEX_INDICES[k, 2]],
+                hex_vidx[FACE_VERTEX_INDICES[k, 3]],
+            )
+            hex_min_i = int(wp.argmin(hex_face_vi))
+            hex_other_v = Hexmesh._face_sort(hex_face_vi, hex_min_i)
+
+            if hex_other_v == face_other_v:
+                local_face_index = k
+                break
+
+        # Find starting vertex index
+        for k in range(4):
+            if face_vidx[k] == hex_face_vi[0]:
+                face_orientation = 2 * k
+                if face_vidx[(k + 1) % 4] != hex_face_vi[1]:
+                    face_orientation += 1
+
+        return local_face_index, face_orientation
+
+    @wp.kernel
+    def _compute_face_orientation(
+        face_vertex_indices: wp.array(dtype=wp.vec4i),
+        face_hex_indices: wp.array(dtype=wp.vec2i),
+        hex_vertex_indices: wp.array2d(dtype=int),
+        face_hex_face_ori: wp.array(dtype=wp.vec4i),
+    ):
+        f = wp.tid()
+
+        face_vidx = face_vertex_indices[f]
+
+        hx0 = face_hex_indices[f][0]
+        local_face_0, ori_0 = Hexmesh._find_face_orientation(face_vidx, hx0, hex_vertex_indices)
+
+        hx1 = face_hex_indices[f][1]
+        if hx0 == hx1:
+            face_hex_face_ori[f] = wp.vec4i(local_face_0, ori_0, local_face_0, ori_0)
+        else:
+            local_face_1, ori_1 = Hexmesh._find_face_orientation(face_vidx, hx1, hex_vertex_indices)
+            face_hex_face_ori[f] = wp.vec4i(local_face_0, ori_0, local_face_1, ori_1)
+
+    @wp.kernel
+    def _count_starting_edges_kernel(
+        hex_vertex_indices: wp.array2d(dtype=int), vertex_start_edge_count: wp.array(dtype=int)
+    ):
+        t = wp.tid()
+        for k in range(12):
+            v0 = hex_vertex_indices[t, EDGE_VERTEX_INDICES[k, 0]]
+            v1 = hex_vertex_indices[t, EDGE_VERTEX_INDICES[k, 1]]
+
+            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_edge(
+        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_hex_offsets: wp.array(dtype=int),
+        vertex_hex_indices: wp.array(dtype=int),
+        hex_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),
+    ):
+        v = wp.tid()
+
+        edge_beg = vertex_start_edge_offsets[v]
+
+        hex_beg = vertex_hex_offsets[v]
+        hex_end = vertex_hex_offsets[v + 1]
+
+        edge_cur = edge_beg
+
+        for tet in range(hex_beg, hex_end):
+            t = vertex_hex_indices[tet]
+
+            for k in range(12):
+                v0 = hex_vertex_indices[t, EDGE_VERTEX_INDICES[k, 0]]
+                v1 = hex_vertex_indices[t, EDGE_VERTEX_INDICES[k, 1]]
+
+                if v == wp.min(v0, v1):
+                    other_v = wp.max(v0, v1)
+                    if Hexmesh._find_edge(other_v, edge_ends, edge_beg, edge_cur) == -1:
+                        edge_ends[edge_cur] = other_v
+                        edge_cur += 1
+
+        vertex_start_edge_count[v] = edge_cur - edge_beg
+
+    @wp.kernel
+    def _compress_edges_kernel(
+        vertex_hex_offsets: wp.array(dtype=int),
+        vertex_hex_indices: wp.array(dtype=int),
+        hex_vertex_indices: wp.array2d(dtype=int),
+        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),
+        hex_edge_indices: wp.array2d(dtype=int),
+    ):
+        v = wp.tid()
+
+        uncompressed_beg = vertex_start_edge_offsets[v]
+
+        unique_beg = vertex_unique_edge_offsets[v]
+        unique_count = vertex_unique_edge_count[v]
+
+        hex_beg = vertex_hex_offsets[v]
+        hex_end = vertex_hex_offsets[v + 1]
+
+        for tet in range(hex_beg, hex_end):
+            t = vertex_hex_indices[tet]
+
+            for k in range(12):
+                v0 = hex_vertex_indices[t, EDGE_VERTEX_INDICES[k, 0]]
+                v1 = hex_vertex_indices[t, EDGE_VERTEX_INDICES[k, 1]]
+
+                if v == wp.min(v0, v1):
+                    other_v = wp.max(v0, v1)
+                    edge_id = (
+                        Hexmesh._find_edge(
+                            other_v, uncompressed_edge_ends, uncompressed_beg, uncompressed_beg + unique_count
+                        )
+                        - uncompressed_beg
+                        + unique_beg
+                    )
+                    hex_edge_indices[t][k] = edge_id