Genesis-Embodied-AI · duburcqa · Jul 23, 2026 · Jul 23, 2026 · Jul 23, 2026
diff --git a/include/madrona/math.inl b/include/madrona/math.inl
@@ -756,30 +756,6 @@ Quat Quat::fromAngularVec(Vector3 v)
 Quat Quat::fromBasis(Vector3 a, Vector3 b, Vector3 c)
 {
     //Modified from glm::quat_cast
-#if 0
-===============================================================================
-The MIT License
--------------------------------------------------------------------------------
-Copyright (c) 2005 - G-Truc Creation
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-#endif
 
     float four_x_squared_minus1 = a.x - b.y - c.z;
     float four_y_squared_minus1 = b.y - a.x - c.z;

diff --git a/include/madrona/mesh_bvh.inl b/include/madrona/mesh_bvh.inl
@@ -166,153 +166,6 @@ bool MeshBVH::traceRay(math::Vector3 ray_o,
     return ray_hit;
 }
 
-#if 0
-bool MeshBVH::traceRay(math::Vector3 ray_o,
-                       math::Vector3 ray_d,
-                       float *out_hit_t,
-                       math::Vector3 *out_hit_normal,
-                       void* shared,
-                       TraversalStack *stack,
-                       float t_max) const
-{
-    using namespace math;
-    constexpr float diveps = 0.0000001f;
-
-    Diag3x3 inv_d = Diag3x3::fromVec(ray_d).inv();
-
-    RayIsectTxfm tri_isect_txfm = computeRayIsectTxfm(ray_o, ray_d, inv_d);
-
-    uint32_t previous_stack_size = stack->size;
-
-    stack->push(0);
-
-#ifdef SHARED_STACK
-    const int32_t mwgpu_warp_id = threadIdx.x / 32;
-    const int32_t mwgpu_warp_lane = threadIdx.x % 32;
-    const int32_t num_smem_bytes_per_warp =
-        (mwGPU::SharedMemStorage::numBytesPerWarp()/4)*4;
-
-    auto sharedMem = ((char*)shared) + mwgpu_warp_id * num_smem_bytes_per_warp +
-            SHARED_STACK_SIZE * sizeof(int32_t) * mwgpu_warp_lane;
-    int32_t* shared_stack = (int32_t*)sharedMem;
-    shared_stack[0] = 0;
-#endif
-
-    bool ray_hit = false;
-    Vector3 closest_hit_normal = Vector3{0,0,0};
-
-    while (stack->size > previous_stack_size) { 
-        int32_t node_idx = stack->pop();
-        const QBVHNode &node = nodes[node_idx];
-
-        float rayXInv = copysignf(ray_d.x == 0 ? 1/diveps : 1/ray_d.x,ray_d.x);
-        float rayYInv = copysignf(ray_d.y == 0 ? 1/diveps : 1/ray_d.y,ray_d.y);
-        float rayZInv = copysignf(ray_d.z == 0 ? 1/diveps : 1/ray_d.z,ray_d.z);
-        //NVIDIA's method, transform for ray plane to quantized space. Shift to IEEE exponent bits.
-
-#ifdef MADRONA_GPU_MODE
-        float dirQuantX = __uint_as_float((node.expX + 127) << 23) * rayXInv;
-        float dirQuantY = __uint_as_float((node.expY + 127) << 23) * rayYInv;
-        float dirQuantZ = __uint_as_float((node.expZ + 127) << 23) * rayZInv;
-#else
-        float dirQuantX = std::bit_cast<float>((node.expX + 127) << 23) * rayXInv;
-        float dirQuantY = std::bit_cast<float>((node.expY + 127) << 23) * rayYInv;
-        float dirQuantZ = std::bit_cast<float>((node.expZ + 127) << 23) * rayZInv;
-#endif
-
-        float originQuantX = (node.minX - ray_o.x) * rayXInv;
-        float originQuantY = (node.minY - ray_o.y) * rayYInv;
-        float originQuantZ = (node.minZ - ray_o.z) * rayZInv;
-
-        for (CountT i = 0; i < MeshBVH::nodeWidth; i++) {
-            if (!node.hasChild(i)) {
-                continue; // Technically this could be break?
-            };
-
-
-            float t_near_x = node.qMinX[i] * dirQuantX + originQuantX;
-            float t_near_y = node.qMinY[i] * dirQuantY + originQuantY;
-            float t_near_z = node.qMinZ[i] * dirQuantZ + originQuantZ;
-
-            float t_far_x = node.qMaxX[i] * dirQuantX + originQuantX;
-            float t_far_y = node.qMaxY[i] * dirQuantY + originQuantY;
-            float t_far_z = node.qMaxZ[i] * dirQuantZ + originQuantZ;
-/*
-            madrona::math::AABB child_aabb {
-                .pMin = {
-                    node.minX + std::bit_cast<float>((node.expX + 127) << 23) * node.qMinX[i],
-                    node.minY + std::bit_cast<float>((node.expY + 127) << 23) * node.qMinY[i],
-                    node.minZ + std::bit_cast<float>((node.expZ + 127) << 23) * node.qMinZ[i],
-                },
-                .pMax = {
-                    node.minX + std::bit_cast<float>((node.expX + 127) << 23) * node.qMaxX[i],
-                    node.minY + std::bit_cast<float>((node.expY + 127) << 23) * node.qMaxY[i],
-                    node.minZ + std::bit_cast<float>((node.expZ + 127) << 23) * node.qMaxZ[i]
-                },
-            };
-
-            float t_near_x = (child_aabb[tri_isect_txfm.nearX] -
-                              tri_isect_txfm.oNear.x) *
-                                 tri_isect_txfm.invDirNear.x;
-            float t_near_y = (child_aabb[tri_isect_txfm.nearY] -
-                              tri_isect_txfm.oNear.y) *
-                                 tri_isect_txfm.invDirNear.y;
-            float t_near_z = (child_aabb[tri_isect_txfm.nearZ] -
-                              tri_isect_txfm.oNear.z) *
-                                 tri_isect_txfm.invDirNear.z;
-
-            float t_far_x = (child_aabb[tri_isect_txfm.farX] -
-                              tri_isect_txfm.oFar.x) *
-                                 tri_isect_txfm.invDirFar.x;
-            float t_far_y = (child_aabb[tri_isect_txfm.farY] -
-                              tri_isect_txfm.oFar.y) *
-                                 tri_isect_txfm.invDirFar.y;
-            float t_far_z = (child_aabb[tri_isect_txfm.farZ] -
-                              tri_isect_txfm.oFar.z) *
-                                 tri_isect_txfm.invDirFar.z;
-            float t_near = fmaxf(t_near_x, fmaxf(t_near_y,
-                fmaxf(t_near_z, 0.f)));
-            float t_far = fminf(t_far_x, fminf(t_far_y,
-                fminf(t_far_z, t_max)));
-
-                                 */
-
-            float t_near = fmaxf(fminf(t_near_x,t_far_x), fmaxf(fminf(t_near_y,t_far_y),
-                fmaxf(fminf(t_near_z,t_far_z), 0.f)));
-            float t_far = fminf(fmaxf(t_far_x,t_near_x), fminf(fmaxf(t_far_y,t_near_y),
-                fminf(fmaxf(t_far_z,t_near_z), t_max)));
-
-            if (t_near <= t_far) {
-                if (node.isLeaf(i)) {
-                    int32_t leaf_idx = node.leafIDX(i);
-
-                    float hit_t;
-                    Vector3 leaf_hit_normal;
-                    bool leaf_hit = traceRayLeaf(leaf_idx, node.triSize[i], tri_isect_txfm,
-                        ray_o, t_max, &hit_t, &leaf_hit_normal);
-
-                    if (leaf_hit) {
-                        ray_hit = true;
-                        t_max = hit_t;
-                        closest_hit_normal = leaf_hit_normal;
-                    }
-                } else {
-                    // assert(stack->size < 32);
-                    stack->push(node.childrenIdx[i]);
-                }
-            }
-        }
-    }
-
-    if (!ray_hit) {
-        return false;
-    }
-
-    *out_hit_t = t_max;
-    *out_hit_normal = closest_hit_normal;
-    return ray_hit;
-}
-#endif
 
 bool MeshBVH::traceRayLeaf(int32_t leaf_idx,
                            int32_t num_tris,
@@ -482,12 +335,6 @@ bool MeshBVH::rayTriangleIntersection(
     // normalize U, V, W, and T
     const float rcpDet = 1.0f / det;
 
-#if 0
-    hit.u = U * rcpDet;
-    hit.v = V * rcpDet;
-    hit.w = W * rcpDet;
-    hit.t = T * rcpDet;
-#endif
 
     *out_hit_t = T * rcpDet;
     *bary_out = Vector3{U,V,W} * rcpDet;

diff --git a/include/madrona/rand.inl b/include/madrona/rand.inl
@@ -209,16 +209,6 @@ constexpr float bitsToFloat01(uint32_t rand_bits)
     // implementations that generate in the range (0, 1]
     return (rand_bits >> 8_u32) * 0x1p-24f;
 
-#if 0
-    constexpr uint32_t exponent = 0x3f800000;
-    uint32_t raw = (exponent | (rand_bits >> 9)) - 1;
-
-#ifdef MADRONA_GPU_MODE
-    return __uint_as_float(raw);
-#else
-    return std::bit_cast<float>(raw);
-#endif
-#endif
 }
 
 }

diff --git a/include/madrona/state.inl b/include/madrona/state.inl
@@ -282,12 +282,6 @@ ComponentID StateManager::componentID() const
 template <typename ArchetypeT>
 ArchetypeID StateManager::archetypeID() const
 {
-#if 0
-    uint32_t id = TypeTracker::typeID<ArchetypeID>();
-
-    assert(id != TypeTracker::unassignedTypeID &&
-           "Trying to access an unregistered archetype!");
-#endif
     return ArchetypeID {
         TypeTracker::typeID<ArchetypeT>(),
     };

diff --git a/include/madrona/system.hpp b/include/madrona/system.hpp
diff --git a/include/madrona/system.inl b/include/madrona/system.inl
diff --git a/src/bridge/sim.cpp b/src/bridge/sim.cpp
@@ -79,10 +79,6 @@ static void setupRenderTasks(TaskGraphBuilder &builder,
                              Span<const TaskGraphNodeID> deps,
                              bool update_mats = false)
 {
-#if 0
-    builder.addToGraph<ParallelForNode<
-        Engine, printTransforms, Position, Rotation, Scale, ObjectID>>(deps);
-#endif
     RenderingSystem::setupTasks(builder, deps, update_mats);
 }
 

diff --git a/src/common/table.cpp b/src/common/table.cpp
@@ -28,13 +28,6 @@ Table::Table(const TypeInfo *component_types, CountT num_components,
     for (int i = 0; i < (int)num_components; i++) {
         const TypeInfo &type = component_types[i];
 
-#if 0
-        // 3rd argument is offsetting the start from the page aligned boundary
-        // to avoid everything mapping to the same cache sets. Should revisit -
-        // maybe add a random offset for each Table as well?
-        columns_.emplace_back(type.numBytes, type.alignment,
-            MADRONA_CACHE_LINE * (i + 1), ICfg::maxRowsPerTable);
-#endif
 
         size_t column_bytes_per_row = (size_t)type.numBytes;
         columns_[i] = malloc(

diff --git a/src/core/system.cpp b/src/core/system.cpp
diff --git a/src/mw/cuda_exec.cpp b/src/mw/cuda_exec.cpp
@@ -646,13 +646,6 @@ static GPUCompileResults compileCode(
         }
     };
 
-#if 0
-    // Don't need the device runtime without dynamic parallelism
-
-    checkLinker(cuLinkAddFile(linker, CU_JIT_INPUT_LIBRARY,
-                              MADRONA_CUDADEVRT_PATH,
-                              0, nullptr, nullptr));
-#endif
 
     nvJitLinkInputType linker_input_type;
     if (opt_mode == CompileConfig::OptMode::LTO) {