diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 71042f72..77c762de 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -24,9 +24,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ubuntu-20.04, windows-2019]
-        python-version: ['3.6', '3.7', '3.8', '3.9']
-        optix-version: [70, 71, 72]
+        os: [ubuntu-22.04, windows-2019]
+        python-version: ['3.6', '3.7', '3.8', '3.9'] # #, '3.10'
+        optix-version: [70, 71, 72] # 
         include:
           # Includes the value for matrix.container when the OS is Ubuntu, to use manylinux complaint CentOS version.
           # For Windows, matrix.container remains undefined and the build runs on the host VM instead of within a container.
@@ -166,14 +166,24 @@ jobs:
         with:
           python-version: ${{ matrix.python-version }}
       
+      #$CUDA_PACKAGES="nvcc_11.7 cudart_11.7 visual_studio_integration"
       - name: Windows Dependencies (CUDA)
         if: runner.os == 'Windows'
         shell: powershell
         run: |
-          $CUDA_VERSION_FULL = "10.2.89"
-          $CUDA_REPO_PKG_REMOTE = "http://developer.download.nvidia.com/compute/cuda/10.2/Prod/network_installers/cuda_10.2.89_win10_network.exe"
-          $CUDA_REPO_PKG_LOCAL = "cuda_10.2.89_win10_network.exe"
-          $CUDA_PACKAGES = "nvcc_10.2 cudart_10.2"
+          $CUDA_VERSION_FULL="11.7.0"
+          $CUDA_REPO_PKG_REMOTE="http://developer.download.nvidia.com/compute/cuda/11.7.0/network_installers/cuda_11.7.0_windows_network.exe"
+          $CUDA_REPO_PKG_LOCAL="cuda_11.7.0_windows_network.exe"  
+
+          echo "printing CUDA_REPO_PKG_REMOTE"
+          echo %CUDA_REPO_PKG_REMOTE%
+          echo $CUDA_REPO_PKG_REMOTE%
+          echo "printing CUDA_REPO_PKG_LOCAL"
+          echo %CUDA_REPO_PKG_LOCAL%
+          echo $CUDA_REPO_PKG_LOCAL
+          echo "printing CUDA_PACKAGES"
+          echo %CUDA_PACKAGES%
+          echo $CUDA_PACKAGES
           # Download the cuda network installer
           Invoke-WebRequest $CUDA_REPO_PKG_REMOTE -OutFile $CUDA_REPO_PKG_LOCAL | Out-Null
           # Invoke silent install of CUDA (via network installer)
@@ -183,11 +193,16 @@ jobs:
         if: runner.os == 'Windows'
         env:
           OPTIX_VERSION: ${{ matrix.optix-version }}
+          CUDACXX: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v11.7/bin/nvcc.exe
+          CUDA_PATH: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v11.7/
+          CudaToolkitDir: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v11.7/
         run: |
           pip install --upgrade setuptools setuptools_scm wheel numpy==1.19.5
           mkdir build
           cd build
-          cmake ../ -DCMAKE_CUDA_COMPILER="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.2/bin/nvcc.exe" -DCUDA_TOOLKIT_ROOT_DIR="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.2" -DPYTHON_VERSION="${{matrix.python-version}}"
+          echo "printing CUDACXX"
+          echo $CUDACXX
+          cmake ../ -DPYTHON_VERSION="${{matrix.python-version}}" -DCMAKE_CUDA_COMPILER="C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v11.7/bin/nvcc.exe"
           cmake --build . --config Release --target install 
           cd ..
           cd install
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6b86d441..2a6322ff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,11 +3,22 @@
 # ┌──────────────────────────────────────────────────────────────────┐
 # │  Projects Settings                                               │
 # └──────────────────────────────────────────────────────────────────┘
-cmake_minimum_required (VERSION 3.13)
-cmake_policy( VERSION 3.13...3.14 )
-project(NVISII CXX C)
+cmake_minimum_required (VERSION 3.17)
+
+MESSAGE(WARN CUDACXX is $ENV{CUDACXX} )
+MESSAGE(WARN CUDA_PATH is $ENV{CUDA_PATH} )
+MESSAGE(WARN CUDAHOSTCXX is $ENV{CUDAHOSTCXX} )
+MESSAGE(WARN CUDAARCHS is $ENV{CUDAARCHS} )
+MESSAGE(WARN CUDAToolkit_ROOT is $ENV{CUDAToolkit_ROOT})
+
+project(NVISII CXX C CUDA)
+
+MESSAGE(now we are past line 10)
+
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
+# set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
+set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/externals/owl/owl/cmake")
+
 
 # Force 64 bit builds
 if(CMAKE_SIZEOF_VOID_P EQUAL 4)
@@ -94,7 +105,7 @@ set(MY_DEFINITION
 # └──────────────────────────────────────────────────────────────────┘
 
 # Build options go here... Things like "Build Tests", or "Generate documentation"...
-option(NVCC_VERBOSE "verbose cuda -> ptx -> embedded build" OFF)
+# option(NVCC_VERBOSE "verbose cuda -> ptx -> embedded build" OFF)
 
 if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_C_COMPILER_ID MATCHES "Clang")
 	# Enable c++11 and hide symbols which shouldn't be visible
@@ -281,16 +292,16 @@ set(IMGUI_SRC
 # include_directories(${TBB_INCLUDE_DIR})
 
 # cuda
-if (${CUDA_TOOLKIT_ROOT_DIR})
-message(INFO " CUDA_TOOLKIT_DIR set to ${CUDA_TOOLKIT_ROOT_DIR}")
-endif()
+# if (${CUDA_TOOLKIT_ROOT_DIR})
+# message(INFO " CUDA_TOOLKIT_DIR set to ${CUDA_TOOLKIT_ROOT_DIR}")
+# endif()
 
-find_package(CUDA REQUIRED)
-include_directories(${CUDA_TOOLKIT_INCLUDE})
-find_program(BIN2C bin2c 
-  HINTS 
-  ${CUDA_TOOLKIT_ROOT_DIR}/bin/
-  /usr/local/cuda/bin)
+# find_package(CUDA REQUIRED)
+# include_directories(${CUDA_TOOLKIT_INCLUDE})
+# find_program(BIN2C bin2c 
+#   HINTS 
+#   ${CUDA_TOOLKIT_ROOT_DIR}/bin/
+#   /usr/local/cuda/bin)
 
 # optix 7
 include_directories(SYSTEM ${CMAKE_CURRENT_SOURCE_DIR}/include/nvisii/utilities/sutil/)
@@ -320,14 +331,17 @@ endif()
 
 # owl
 #set(SET_UP_CONFIGURATIONS_DONE 1)
-#set(OWL_BUILD_SAMPLES OFF CACHE STRING "" FORCE)
-#set(OWL_BUILD_ADVANCED_TESTS OFF CACHE STRING "" FORCE)
+set(OptiX_INSTALL_DIR ${CMAKE_CURRENT_SOURCE_DIR}/externals/owl/owl/)
+set(OWL_BUILD_SAMPLES OFF CACHE STRING "" FORCE)
+set(OWL_BUILD_ADVANCED_TESTS OFF CACHE STRING "" FORCE)
 add_subdirectory(externals/owl EXCLUDE_FROM_ALL)
+include(embed_ptx)
+
 #include_directories(SYSTEM ${CMAKE_CURRENT_SOURCE_DIR}/externals/owl/)
 #include_directories(SYSTEM ${CMAKE_CURRENT_SOURCE_DIR}/externals/owl/owl/include)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/externals/owl/owl/cmake)
-include_directories(${OWL_INCLUDES})
-include(configure_cuda)
+# list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/externals/owl/owl/cmake)
+# include_directories(${OWL_INCLUDES})
+# include(configure_cuda)
 
 # add libraries to a list for linking
 set(
@@ -340,6 +354,8 @@ set(
   #owl
   ${OWL_LIBRARIES}
   assimp
+  OptiX::OptiX
+  owl::owl
   )
 
 set (
@@ -391,23 +407,23 @@ endif()
 # # └──────────────────────────────────────────────────────────────────┘
 
 # For compiling cuda kernels and embedding them as ptx
-if (NVCC_VERBOSE)
-set (NVCC_VERBOSE_FLAG --verbose)
-endif()
-
-macro(cuda_compile_and_embed output_var cuda_file)
-  set(var_name ${output_var})
-  cuda_compile_ptx(ptx_files ${cuda_file} OPTIONS --generate-line-info -use_fast_math -Xcudafe --diag_suppress=esa_on_defaulted_function_ignored --keep ${NVCC_VERBOSE_FLAG})
-  list(GET ptx_files 0 ptx_file)
-  set(embedded_file ${ptx_file}_embedded.c)
-  add_custom_command(
-    OUTPUT ${embedded_file}
-    COMMAND ${BIN2C} -c --padd 0 --type char --name ${var_name} ${ptx_file}  > ${embedded_file}
-    DEPENDS ${ptx_file}
-    COMMENT "compiling (and embedding ptx from) ${cuda_file}"
-    )
-  set(${output_var} ${embedded_file})
-endmacro()
+# if (NVCC_VERBOSE)
+# set (NVCC_VERBOSE_FLAG --verbose)
+# endif()
+
+# macro(cuda_compile_and_embed output_var cuda_file)
+#   set(var_name ${output_var})
+#   cuda_compile_ptx(ptx_files ${cuda_file} OPTIONS --generate-line-info -use_fast_math -Xcudafe --diag_suppress=esa_on_defaulted_function_ignored --keep ${NVCC_VERBOSE_FLAG})
+#   list(GET ptx_files 0 ptx_file)
+#   set(embedded_file ${ptx_file}_embedded.c)
+#   add_custom_command(
+#     OUTPUT ${embedded_file}
+#     COMMAND ${BIN2C} -c --padd 0 --type char --name ${var_name} ${ptx_file}  > ${embedded_file}
+#     DEPENDS ${ptx_file}
+#     COMMENT "compiling (and embedding ptx from) ${cuda_file}"
+#     )
+#   set(${output_var} ${embedded_file})
+# endmacro()
 
 # ┌──────────────────────────────────────────────────────────────────┐
 # │  Add source files                                                │
@@ -431,12 +447,32 @@ set(HDR ${HDR} ${Externals_HDR})
 # │  CUDA PTX                                                        │
 # └──────────────────────────────────────────────────────────────────┘
 # OPTIONS -Xcudafe --diag_suppress=esa_on_defaulted_function_ignored
-cuda_compile_and_embed(ptxCode ${SRC_CU})
+# compile_and_embed(ptxCode ${SRC_CU})
+
+embed_ptx(
+  OUTPUT_TARGET
+    deviceCode_ptx
+  EMBEDDED_SYMBOL_NAMES
+    deviceCode_ptx
+  PTX_LINK_LIBRARIES
+    owl::owl
+  SOURCES
+     ${SRC_CU}
+)
+set (
+  LIBRARIES
+  ${LIBRARIES}
+  deviceCode_ptx
+)
 
 # ┌──────────────────────────────────────────────────────────────────┐
 # │  NVISII Library                                                   │
 # └──────────────────────────────────────────────────────────────────┘
-cuda_add_library(nvisii_lib STATIC ${SRC} ${HDR} ${ptxCode} OPTIONS --expt-relaxed-constexpr -Xcudafe --diag_suppress=esa_on_defaulted_function_ignored)
+add_library(nvisii_lib STATIC ${SRC} ${HDR} ${ptxCode} 
+# OPTIONS --expt-relaxed-constexpr -Xcudafe --diag_suppress=esa_on_defaulted_function_ignored
+)
+set_property(TARGET nvisii_lib PROPERTY CUDA_ARCHITECTURES OFF) 
+
 set_target_properties(nvisii_lib PROPERTIES POSITION_INDEPENDENT_CODE ON)
 target_link_libraries(nvisii_lib ${LIBRARIES})
 set_target_properties(nvisii_lib PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS true)
@@ -502,4 +538,4 @@ if(hasParent)
   set(OWL_VIEWER_LIBRARIES ${OWL_VIEWER_LIBRARIES} PARENT_SCOPE)
   set(OWL_HAVE_TBB ${OWL_HAVE_TBB} PARENT_SCOPE)
   set(OWL_CXX_FLAGS ${OWL_CXX_FLAGS} PARENT_SCOPE)
-endif()
\ No newline at end of file
+endif()
diff --git a/README.md b/README.md
index ccf6cc04..5040dd92 100644
--- a/README.md
+++ b/README.md
@@ -13,6 +13,7 @@ For more information see our [ICLR workshop 2021 paper](https://arxiv.org/abs/21
 
 [Documentation](https://nvisii.com) and [quick tutorial](https://youtu.be/vg7FN7YDUy0).
 
+
 <!--
 This library provides a simple, primarily python-user targeted, interface to rendering images of a virtual scene. Its key cornerstones are:
 
diff --git a/cmake/FindOptiX.cmake b/cmake/FindOptiX.cmake
deleted file mode 100644
index 34c3322b..00000000
--- a/cmake/FindOptiX.cmake
+++ /dev/null
@@ -1,178 +0,0 @@
-#
-# Copyright (c) 2018 NVIDIA CORPORATION. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in the
-#    documentation and/or other materials provided with the distribution.
-#  * Neither the name of NVIDIA CORPORATION nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
-# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
-# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
-# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
-# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
-# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
-# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
-# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-#
-
-# Locate the OptiX distribution.  Search relative to the SDK first, then look in the system.
-
-# Our initial guess will be within the SDK.
-if (NOT DEFINED OptiX_INSTALL_DIR)
-  if (WIN32)
-    set(OptiX_INSTALL_DIR "c:/ProgramData/NVIDIA Corporation/OptiX SDK 7.2.0")
-  else()
-    set(OptiX_INSTALL_DIR $ENV{OptiX_INSTALL_DIR})
-  endif()
-endif()
-#set(OptiX_INSTALL_DIR "${CMAKE_SOURCE_DIR}/../" CACHE PATH "Path to OptiX installed location.")
-
-# The distribution contains both 32 and 64 bit libraries.  Adjust the library
-# search path based on the bit-ness of the build.  (i.e. 64: bin64, lib64; 32:
-# bin, lib).  Note that on Mac, the OptiX library is a universal binary, so we
-# only need to look in lib and not lib64 for 64 bit builds.
-if(CMAKE_SIZEOF_VOID_P EQUAL 8 AND NOT APPLE)
-  set(bit_dest "64")
-else()
-  set(bit_dest "")
-endif()
-
-macro(OPTIX_find_api_library name version)
-  find_library(${name}_LIBRARY
-    NAMES ${name}.${version} ${name}
-    PATHS "${OptiX_INSTALL_DIR}/lib${bit_dest}"
-    NO_DEFAULT_PATH
-    )
-  find_library(${name}_LIBRARY
-    NAMES ${name}.${version} ${name}
-    )
-  if(WIN32)
-    find_file(${name}_DLL
-      NAMES ${name}.${version}.dll
-      PATHS "${OptiX_INSTALL_DIR}/bin${bit_dest}"
-      NO_DEFAULT_PATH
-      )
-    find_file(${name}_DLL
-      NAMES ${name}.${version}.dll
-      )
-  endif()
-endmacro()
-
-#OPTIX_find_api_library(optix 70)
-#OPTIX_find_api_library(optixu 1)
-#OPTIX_find_api_library(optix_prime 1)
-
-# Include
-find_path(OptiX_INCLUDE
-  NAMES optix.h
-  PATHS "${OptiX_INSTALL_DIR}/include"
-  NO_DEFAULT_PATH
-  )
-find_path(OptiX_INCLUDE
-  NAMES optix.h
-  )
-
-# Check to make sure we found what we were looking for
-function(OptiX_report_error error_message required)
-  if(OptiX_FIND_REQUIRED AND required)
-    message(FATAL_ERROR "${error_message}")
-  else()
-    if(NOT OptiX_FIND_QUIETLY)
-      message(STATUS "${error_message}")
-    endif(NOT OptiX_FIND_QUIETLY)
-  endif()
-endfunction()
-
-#if(NOT optix_LIBRARY)
-#  OptiX_report_error("optix library not found.  Please locate before proceeding." TRUE)
-#endif()
-if(NOT OptiX_INCLUDE)
-  OptiX_report_error("OptiX headers (optix.h and friends) not found.  Please locate before proceeding." TRUE)
-endif()
-#if(NOT optix_prime_LIBRARY)
-#  OptiX_report_error("optix Prime library not found.  Please locate before proceeding." FALSE)
-#endif()
-
-# Macro for setting up dummy targets
-function(OptiX_add_imported_library name lib_location dll_lib dependent_libs)
-  set(CMAKE_IMPORT_FILE_VERSION 1)
-
-  # Create imported target
-#  add_library(${name} SHARED IMPORTED)
-
-  # Import target "optix" for configuration "Debug"
-  # if(WIN32)
-  #   set_target_properties(${name} PROPERTIES
-  #     IMPORTED_IMPLIB "${lib_location}"
-  #     #IMPORTED_LINK_INTERFACE_LIBRARIES "glu32;opengl32"
-  #     IMPORTED_LOCATION "${dll_lib}"
-  #     IMPORTED_LINK_INTERFACE_LIBRARIES "${dependent_libs}"
-  #     )
-  # elseif(UNIX)
-  #   set_target_properties(${name} PROPERTIES
-  #     #IMPORTED_LINK_INTERFACE_LIBRARIES "glu32;opengl32"
-  #     IMPORTED_LOCATION "${lib_location}"
-  #     # We don't have versioned filenames for now, and it may not even matter.
-  #     #IMPORTED_SONAME "${optix_soname}"
-  #     IMPORTED_LINK_INTERFACE_LIBRARIES "${dependent_libs}"
-  #     )
-  # else()
-  #   # Unknown system, but at least try and provide the minimum required
-  #   # information.
-  #   set_target_properties(${name} PROPERTIES
-  #     IMPORTED_LOCATION "${lib_location}"
-  #     IMPORTED_LINK_INTERFACE_LIBRARIES "${dependent_libs}"
-  #     )
-  # endif()
-
-  # Commands beyond this point should not need to know the version.
-  set(CMAKE_IMPORT_FILE_VERSION)
-endfunction()
-
-# Sets up a dummy target
-OptiX_add_imported_library(optix "${optix_LIBRARY}" "${optix_DLL}" "${OPENGL_LIBRARIES}")
-#OptiX_add_imported_library(optixu   "${optixu_LIBRARY}"   "${optixu_DLL}"   "")
-#OptiX_add_imported_library(optix_prime "${optix_prime_LIBRARY}"  "${optix_prime_DLL}"  "")
-
-macro(OptiX_check_same_path libA libB)
-  if(_optix_path_to_${libA})
-    if(NOT _optix_path_to_${libA} STREQUAL _optix_path_to_${libB})
-      # ${libA} and ${libB} are in different paths.  Make sure there isn't a ${libA} next
-      # to the ${libB}.
-      get_filename_component(_optix_name_of_${libA} "${${libA}_LIBRARY}" NAME)
-      if(EXISTS "${_optix_path_to_${libB}}/${_optix_name_of_${libA}}")
-        message(WARNING " ${libA} library found next to ${libB} library that is not being used.  Due to the way we are using rpath, the copy of ${libA} next to ${libB} will be used during loading instead of the one you intended.  Consider putting the libraries in the same directory or moving ${_optix_path_to_${libB}}/${_optix_name_of_${libA} out of the way.")
-      endif()
-    endif()
-    set( _${libA}_rpath "-Wl,-rpath,${_optix_path_to_${libA}}" )
-  endif()
-endmacro()
-
-# Since liboptix.1.dylib is built with an install name of @rpath, we need to
-# compile our samples with the rpath set to where optix exists.
-if(APPLE)
-  get_filename_component(_optix_path_to_optix "${optix_LIBRARY}" PATH)
-  if(_optix_path_to_optix)
-    set( _optix_rpath "-Wl,-rpath,${_optix_path_to_optix}" )
-  endif()
-  get_filename_component(_optix_path_to_optixu "${optixu_LIBRARY}" PATH)
-  OptiX_check_same_path(optixu optix)
-  get_filename_component(_optix_path_to_optix_prime "${optix_prime_LIBRARY}" PATH)
-  OptiX_check_same_path(optix_prime optix)
-  OptiX_check_same_path(optix_prime optixu)
-
-  set( optix_rpath ${_optix_rpath} ${_optixu_rpath} ${_optix_prime_rpath} )
-  list(REMOVE_DUPLICATES optix_rpath)
-endif()
-
diff --git a/examples/02.random_scene.py b/examples/02.random_scene.py
index 370b8e12..bd9d2bde 100644
--- a/examples/02.random_scene.py
+++ b/examples/02.random_scene.py
@@ -21,7 +21,6 @@
 nvisii.initialize(
     headless = True, 
     verbose = True, 
-    lazy_updates = True,
     max_entities = opt.nb_objs + 1,
     max_transforms = opt.nb_objs + 1,  
     max_materials = opt.nb_objs,
diff --git a/examples/03.pybullet.py b/examples/03.pybullet.py
index f9dfa71d..9caba83c 100644
--- a/examples/03.pybullet.py
+++ b/examples/03.pybullet.py
@@ -26,8 +26,8 @@
     print(f'created folder {opt.outf}/')
 # # # # # # # # # # # # # # # # # # # # # # # # #
 
-# show an interactive window, and use "lazy" updates for faster object creation time 
-nvisii.initialize(headless=False, lazy_updates=True)
+# show an interactive window
+nvisii.initialize(headless=False)
 
 if not opt.noise is True: 
     nvisii.enable_denoiser()
diff --git a/examples/09.meta_data_exporting.py b/examples/09.meta_data_exporting.py
index bf464cbd..07777490 100644
--- a/examples/09.meta_data_exporting.py
+++ b/examples/09.meta_data_exporting.py
@@ -17,7 +17,7 @@
     print(f'created folder {opt.outf}/')
 # # # # # # # # # # # # # # # # # # # # # # # # #
 
-nvisii.initialize(headless=False, verbose=True, lazy_updates = True)
+nvisii.initialize(headless=False, verbose=True)
 
 nvisii.enable_denoiser()
 
diff --git a/examples/12.pybullet_motion_blur.py b/examples/12.pybullet_motion_blur.py
index 121fcaae..3b85e5c5 100644
--- a/examples/12.pybullet_motion_blur.py
+++ b/examples/12.pybullet_motion_blur.py
@@ -25,7 +25,7 @@
     print(f'created folder {opt.outf}/')
 # # # # # # # # # # # # # # # # # # # # # # # # #
 
-nvisii.initialize(headless = False, lazy_updates=True)
+nvisii.initialize(headless = False)
 
 if not opt.noise is True: 
     nvisii.enable_denoiser()
diff --git a/examples/15.camera_motion_car_blur.py b/examples/15.car.py
similarity index 90%
rename from examples/15.camera_motion_car_blur.py
rename to examples/15.car.py
index 4afab621..0f3a7746 100644
--- a/examples/15.camera_motion_car_blur.py
+++ b/examples/15.car.py
@@ -21,13 +21,9 @@
 dome = nvisii.texture.create_from_file("dome", "content/teatro_massimo_2k.hdr")
 
 # we can add HDR images to act as dome
-nvisii.set_dome_light_texture(dome)
+nvisii.set_dome_light_texture(dome, enable_cdf=True)
 nvisii.set_dome_light_rotation(nvisii.angleAxis(nvisii.pi() * .5, nvisii.vec3(0, 0, 1)))
 
-car_speed = 0
-car_speed_x = car_speed
-car_speed_y = -2 * car_speed
-
 camera_height = 80
 # # # # # # # # # # # # # # # # # # # # # # # # #
 
@@ -46,20 +42,9 @@
 camera.get_transform().look_at(
     at = nvisii.vec3(-50,0,camera_height) , # look at (world coordinate)
     up = nvisii.vec3(0,0,1), # up vector
-    eye = nvisii.vec3(-500,500,100 + camera_height),
-    previous = False
-)
-
-camera.get_transform().look_at(
-    at = nvisii.vec3(-50,0,camera_height) + nvisii.vec3(car_speed_x, car_speed_y, .0) , # look at (world coordinate)
-    up = nvisii.vec3(0,0,1), # up vector
-    eye = nvisii.vec3(-500,500,100 + camera_height),
-    previous = True
+    eye = nvisii.vec3(-500,500,100 + camera_height)
 )
 
-camera.get_camera().set_aperture_diameter(5000)
-camera.get_camera().set_focal_distance(500)
-
 nvisii.set_camera_entity(camera)
 
 floor = nvisii.entity.create(
@@ -71,7 +56,7 @@
 floor.get_transform().set_scale(nvisii.vec3(10000))
 floor.get_transform().set_position(nvisii.vec3(0, 0, -5))
 floor.get_material().set_base_color(nvisii.vec3(1.0))
-floor.get_material().set_roughness(1)
+floor.get_material().set_roughness(0)
 floor.get_material().set_specular(0)
 
 # # # # # # # # # # # # # # # # # # # # # # # # #
@@ -102,8 +87,6 @@
     # print(s.get_name())
     # if 'car' in s.get_name():
     #     print(s.get_name())
-    s.get_transform().set_linear_velocity(nvisii.vec3(car_speed_x, car_speed_y, .0))
-
     print(s.get_name())
     if "carshell" in s.get_name().lower():
         s.get_material().set_clearcoat(1)
@@ -137,6 +120,11 @@
         s.get_material().set_transmission(1)
         s.get_material().set_roughness(0)
         s.get_material().set_metallic(0)
+        s.set_visibility(shadow = False)
+    
+    if "interior" in s.get_name().lower():
+        s.get_material().set_base_color((1,1,1))
+
     # elif 'light' in s.get_name().lower():
     #     print(s.get_name())
     #     s.set_light(nvisii.light.create('light' + str(i_s)))
diff --git a/externals/owl b/externals/owl
index 0f82536c..986455ea 160000
--- a/externals/owl
+++ b/externals/owl
@@ -1 +1 @@
-Subproject commit 0f82536cd56668ca786d4f5e8eb796e6b03752c9
+Subproject commit 986455ea3d79eab4fc97e41d152396a46bf4db42
diff --git a/include/nvisii/nvisii.h b/include/nvisii/nvisii.h
index 635ad212..54e1caf5 100644
--- a/include/nvisii/nvisii.h
+++ b/include/nvisii/nvisii.h
@@ -10,42 +10,11 @@
 
 namespace nvisii {
 
-/**
-  * Deprecated. Please use initialize() instead.
-*/
-void initializeInteractive(
-  bool window_on_top = false, 
-  bool verbose = false,
-  uint32_t max_entities = 10000,
-  uint32_t max_cameras = 10,
-  uint32_t max_transforms = 10000,
-  uint32_t max_meshes = 10000,
-  uint32_t max_materials = 10000,
-  uint32_t max_lights = 100,
-  uint32_t max_textures = 1000,
-  uint32_t max_volumes = 1000);
-
-/**
-  * Deprecated. Please use initialize(headless = True) instead.
-*/
-void initializeHeadless(
-  bool verbose = false,
-  uint32_t max_entities = 10000,
-  uint32_t max_cameras = 10,
-  uint32_t max_transforms = 10000,
-  uint32_t max_meshes = 10000,
-  uint32_t max_materials = 10000,
-  uint32_t max_lights = 100,
-  uint32_t max_textures = 1000,
-  uint32_t max_volumes = 1000);
-
 /**
   * Initializes various backend systems required to render scene data.
   * 
   * @param headless If true, avoids using any OpenGL resources, to enable use on systems without displays.
   * @param window_on_top Keeps the window opened during an interactive session on top of any other windows. (assuming headless is False)
-  * @param lazy_updates If True, nvisii will only upload components to the GPU on call to 
-  * render/render_to_png/render_data for better scene editing performance. (assuming headless is False. Always on when headless is True)
   * @param verbose If false, nvisii will avoid outputing any unneccessary text
   * @param max_entities The max number of creatable Entity components.
   * @param max_cameras The max number of creatable Camera components.
@@ -58,7 +27,6 @@ void initializeHeadless(
 void initialize(
   bool headless = false, 
   bool window_on_top = false, 
-  bool lazy_updates = false, 
   bool verbose = false,
   uint32_t max_entities = 10000,
   uint32_t max_cameras = 10,
@@ -124,9 +92,10 @@ void setDomeLightExposure(float exposure);
 /** 
  * Sets the color which this dome light will emit.
  * 
- * @param The RGB color emitted that this dome light should emit.
+ * @param color The RGB color emitted that this dome light should emit.
+ * @param alpha The alpha transparency to use for the background if hit by primary rays.
  */ 
-void setDomeLightColor(glm::vec3 color);
+void setDomeLightColor(glm::vec3 color, float alpha = 1.0f);
 
 /** 
  * Configures the procedural sky for the dome light (aka the environment).
@@ -137,18 +106,21 @@ void setDomeLightColor(glm::vec3 color);
  * @param atmosphere_thickness effects Rayleigh scattering. Thin atmospheres look more 
  * like space, and thick atmospheres see more Rayleigh scattering.
  * @param saturation causes the sky to appear more or less "vibrant"
+ * @param alpha The alpha transparency to use for the background if hit by primary rays.
  */ 
 void setDomeLightSky(
     glm::vec3 sun_position, 
     glm::vec3 sky_tint = vec3(.5f, .5f, .5f), 
     float atmosphere_thickness = 1.0f,
-    float saturation = 1.0f);
+    float saturation = 1.0f,
+    float alpha = 1.0f);
 
 /** 
  * Sets the texture used to color the dome light (aka the environment). 
  * Textures are sampled using a 2D to 3D latitude/longitude strategy.
  * 
- * @param texture The texture to sample for the dome light.
+ * @param texture The texture to sample for the dome light. Alpha channel values 
+ * effect alpha transparency of background for primary rays. 
  * @param enable_cdf If True, reduces noise of sampling a dome light texture, 
  * but at the expense of frame rate. Useful for dome lights with bright lights 
  * that should cast shadows.
@@ -269,16 +241,6 @@ void configureDenoiser(bool use_albedo_guide = true, bool use_normal_guide = tru
 */
 std::vector<float> render(uint32_t width, uint32_t height, uint32_t samples_per_pixel, uint32_t seed = 0);
 
-/** 
- * Deprecated. Please use renderToFile. 
-*/
-void renderToHDR(uint32_t width, uint32_t height, uint32_t samples_per_pixel, std::string image_path, uint32_t seed = 0);
-
-/** 
- * Deprecated. Please use renderToFile. 
-*/
-void renderToPNG(uint32_t width, uint32_t height, uint32_t samples_per_pixel, std::string image_path, uint32_t seed = 0);
-
 /** 
  * Renders the current scene, saving the resulting framebuffer to an image on disk.
  * 
diff --git a/include/nvisii/transform.h b/include/nvisii/transform.h
index cdf3640f..787c344d 100644
--- a/include/nvisii/transform.h
+++ b/include/nvisii/transform.h
@@ -78,24 +78,9 @@ class Transform : public StaticFactory
     static std::vector<TransformStruct> transformStructs;
     static std::map<std::string, uint32_t> lookupTable;
     
-    /* Updates cached rotation values */
-    void updateRotation();
-
-    /* Updates cached position values */
-    void updatePosition();
-
-    /* Updates cached scale values */
-    void updateScale();
-
-    /* Updates cached final local to parent matrix values */
+    /* Updates cached final local to parent and local to world matrix values */
     void updateMatrix();
 
-    /* Updates cached final local to world matrix values */
-    void updateWorldMatrix();
-
-    /* updates all childrens cached final local to world matrix values */
-    void updateChildren();
-
     /* updates the struct for this transform which can be uploaded to the GPU. */
     void updateStruct();
     
diff --git a/src/externals/glfw_implementation/glfw.cpp b/src/externals/glfw_implementation/glfw.cpp
index 2753c195..d2564e9f 100644
--- a/src/externals/glfw_implementation/glfw.cpp
+++ b/src/externals/glfw_implementation/glfw.cpp
@@ -103,6 +103,7 @@ namespace Libraries {
         glfwWindowHint(GLFW_DECORATED, (decorated) ? GLFW_TRUE : GLFW_FALSE);
         glfwWindowHint(GLFW_RESIZABLE, (resizable) ? GLFW_TRUE : GLFW_FALSE);
         glfwWindowHint(GLFW_FLOATING, (floating) ? GLFW_TRUE : GLFW_FALSE);
+        glfwWindowHint(GLFW_TRANSPARENT_FRAMEBUFFER, GLFW_TRUE);
         // glfwWindowHint( GLFW_DOUBLEBUFFER, GL_FALSE );
 
         Window window = {};
diff --git a/src/nvisii/devicecode/launch_params.h b/src/nvisii/devicecode/launch_params.h
index 5da1324b..4587d379 100644
--- a/src/nvisii/devicecode/launch_params.h
+++ b/src/nvisii/devicecode/launch_params.h
@@ -32,7 +32,7 @@ struct LaunchParams {
     OptixTraversableHandle IAS;
     float domeLightIntensity = 1.f;
     float domeLightExposure = 0.f;
-    glm::vec3 domeLightColor = glm::vec3(-1.f);
+    glm::vec4 domeLightColor = glm::vec4(-1.f);
     float directClamp = 100.f; 
     float indirectClamp = 100.f; 
     uint32_t maxDiffuseDepth = 2;
diff --git a/src/nvisii/devicecode/path_tracer.cu b/src/nvisii/devicecode/path_tracer.cu
index 4b5c896a..f4500979 100644
--- a/src/nvisii/devicecode/path_tracer.cu
+++ b/src/nvisii/devicecode/path_tracer.cu
@@ -89,25 +89,27 @@ cudaTextureObject_t getEnvironmentTexture()
 }
 
 inline __device__
-float3 missColor(const float3 n_dir, cudaTextureObject_t &tex)
+float4 missColor(const float3 n_dir, cudaTextureObject_t &tex)
 {
     auto &LP = optixLaunchParams;
     vec3 rayDir = LP.environmentMapRotation * make_vec3(n_dir);
     if (tex)
     {
         vec2 tc = toUV(vec3(rayDir.x, rayDir.y, rayDir.z));
-        float4 texColor = tex2D<float4>(tex, tc.x,tc.y);
-        return make_float3(texColor);
+        return tex2D<float4>(tex, tc.x,tc.y);
     }
     
-    if (glm::any(glm::greaterThanEqual(LP.domeLightColor, glm::vec3(0.f)))) return make_float3(LP.domeLightColor);
+    // If none of the background color channels are negative, return that dome light color.
+    if (glm::any(glm::greaterThanEqual(LP.domeLightColor, glm::vec4(0.f)))) return make_float4(LP.domeLightColor);
+
+    // otherwise, we found a negative value, so revert to some default interpolated background value.
     float t = 0.5f*(rayDir.z + 1.0f);
     float3 c = (1.0f - t) * make_float3(pow(vec3(1.0f), vec3(2.2f))) + t * make_float3( pow(vec3(0.5f, 0.7f, 1.0f), vec3(2.2f)) );
-    return c;
+    return make_float4(c, 1.f);
 }
 
 inline __device__
-float3 missColor(const owl::Ray &ray, cudaTextureObject_t &tex)
+float4 missColor(const owl::Ray &ray, cudaTextureObject_t &tex)
 {
     return missColor(ray.direction, tex);
 }
@@ -615,6 +617,7 @@ void initializeRenderData(float3 &renderData)
     else if (LP.renderDataMode == RenderDataFlags::BASE_COLOR) {
         renderData = make_float3(0.0, 0.0, 0.0);
     }
+    
     else if (LP.renderDataMode == RenderDataFlags::TEXTURE_COORDINATES) {
         renderData = make_float3(0.0, 0.0, 0.0);
     }
@@ -843,6 +846,7 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
     float3 renderData = make_float3(0.f);
     float3 primaryAlbedo = make_float3(0.f);
     float3 primaryNormal = make_float3(0.f);
+    float primaryAlpha = 1.f;
     initializeRenderData(renderData);
 
     uint8_t depth = 0;
@@ -875,13 +879,20 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
         if (payload.tHit <= 0.f) {
             // Compute lighting from environment
             if (depth == 0) {
-                float3 col = missColor(ray, envTex);
-                illum = illum + pathThroughput * (col * LP.domeLightIntensity);
+                // don't account for exposure if this is a primary ray. 
+                // (note, this is not physically correct... however, it makes directly visible lights more artist directable. )
+                // (todo, account for lights visible through specular chains...)
+                // Also store primary albedo for denoising
+                float4 col = missColor(ray, envTex);
+                illum = illum + pathThroughput * (make_float3(col) * LP.domeLightIntensity);
                 directIllum = illum;
-                primaryAlbedo = col;
+                primaryAlbedo = make_float3(col);
+                primaryAlpha = col.w;
+            }
+            else if (enableDomeSampling){
+                // else account for exposure of the dome light in addition to intensity.
+                illum = illum + pathThroughput * (make_float3(missColor(ray, envTex)) * LP.domeLightIntensity * pow(2.f, LP.domeLightExposure));
             }
-            else if (enableDomeSampling)
-                illum = illum + pathThroughput * (missColor(ray, envTex) * LP.domeLightIntensity * pow(2.f, LP.domeLightExposure));
             
             const float envDist = 10000.0f; // large value
             /* Compute miss motion vector */
@@ -1199,7 +1210,7 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
             }
 
             numTris = 1.f;
-            lightEmission = (missColor(lightDir, envTex) * LP.domeLightIntensity * pow(2.f, LP.domeLightExposure));
+            lightEmission = (make_float3(missColor(lightDir, envTex)) * LP.domeLightIntensity * pow(2.f, LP.domeLightExposure));
         }
         // sample light sources
         else 
@@ -1340,7 +1351,7 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
             if ((payload.instanceID == -1) && (sampledLightID == -1) && enableDomeSampling) {
                 // Case where we hit the background, and also previously sampled the background   
                 float w = power_heuristic(1.f, bsdfPDF, 1.f, lightPDF);
-                float3 lightEmission = missColor(ray, envTex) * LP.domeLightIntensity * pow(2.f, LP.domeLightExposure);
+                float3 lightEmission = make_float3(missColor(ray, envTex)) * LP.domeLightIntensity * pow(2.f, LP.domeLightExposure);
                 float3 Li = (lightEmission * w) / bsdfPDF;
                 
                 if (dotNWi > 0.f) {
@@ -1471,7 +1482,13 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
 
     if (LP.renderDataMode == RenderDataFlags::NONE) 
     {
-        accum_color = make_float4((accum_illum + float(LP.frameID) * make_float3(prev_color)) / float(LP.frameID + 1), 1.0f);
+        // accum_color = (make_float4(accum_illum, primaryAlpha) + float(LP.frameID) * prev_color) / float(LP.frameID + 1);
+        float3 c = (accum_illum + float(LP.frameID) * make_float3(prev_color)) / float(LP.frameID + 1);
+        float a = (primaryAlpha + float(LP.frameID) * prev_color.w) / float(LP.frameID + 1);
+        accum_color.x = c.x;
+        accum_color.y = c.y;
+        accum_color.z = c.z;
+        accum_color.w = a;
     }
     else {
         // Override framebuffer output if user requested to render metadata
@@ -1483,11 +1500,7 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
             accum_illum = make_float3(0.f, 0.f, 0.f);
             prev_color = make_float4(0.f, 0.f, 0.f, 1.f);
         }
-        accum_color = make_float4((accum_illum + float(LP.frameID) * make_float3(prev_color)) / float(LP.frameID + 1), 1.0f);
-
-        // if (debug) {
-        //     printf("output: %f %f %f\n", accum_color.x, accum_color.y, accum_color.z);
-        // }
+        accum_color = make_float4( (accum_illum + float(LP.frameID) * make_float3(prev_color)) / float(LP.frameID + 1), 1.0f);
     }
     
     
@@ -1496,7 +1509,7 @@ OPTIX_RAYGEN_PROGRAM(rayGen)()
     vec4 oldNormal = make_vec4(prev_normal);
     if (any(isnan(oldAlbedo))) oldAlbedo = vec4(0.f);
     if (any(isnan(oldNormal))) oldNormal = vec4(0.f);
-    vec4 newAlbedo = vec4(primaryAlbedo.x, primaryAlbedo.y, primaryAlbedo.z, 1.f);
+    vec4 newAlbedo = vec4(primaryAlbedo.x, primaryAlbedo.y, primaryAlbedo.z, primaryAlpha);
     vec4 accumAlbedo = (newAlbedo + float(LP.frameID) * oldAlbedo) / float(LP.frameID + 1);
     vec4 newNormal = vec4(make_vec3(primaryNormal), 1.f);
     if (!all(equal(make_vec3(primaryNormal), vec3(0.f, 0.f, 0.f)))) {
diff --git a/src/nvisii/nvisii.cpp b/src/nvisii/nvisii.cpp
index 94c8ed14..324273b1 100644
--- a/src/nvisii/nvisii.cpp
+++ b/src/nvisii/nvisii.cpp
@@ -61,7 +61,7 @@ std::promise<void> exitSignal;
 std::thread renderThread;
 static bool initialized = false;
 static bool stopped = true;
-static bool lazyUpdatesEnabled = false;
+static bool paused = false;
 static bool verbose = true;
 
 static struct WindowData {
@@ -70,7 +70,7 @@ static struct WindowData {
 } WindowData;
 
 /* Embedded via cmake */
-extern "C" char ptxCode[];
+extern "C" char deviceCode_ptx[];
 
 // struct MeshData {
 //     OWLBuffer vertices;
@@ -486,7 +486,7 @@ void initializeOptix(bool headless)
     owlEnableMotionBlur(OD.context);
     owlContextSetRayTypeCount(OD.context, 2);
     cudaSetDevice(0); // OWL leaves the device as num_devices - 1 after the context is created. set it back to 0.
-    OD.module = owlModuleCreate(OD.context, ptxCode);
+    OD.module = owlModuleCreate(OD.context, deviceCode_ptx);
     
     /* Setup Optix Launch Params */
     OWLVarDecl launchParamVars[] = {
@@ -519,7 +519,7 @@ void initializeOptix(bool headless)
         { "instanceToEntity",        OWL_BUFFER,                        OWL_OFFSETOF(LaunchParams, instanceToEntity)},
         { "domeLightIntensity",      OWL_USER_TYPE(float),              OWL_OFFSETOF(LaunchParams, domeLightIntensity)},
         { "domeLightExposure",       OWL_USER_TYPE(float),              OWL_OFFSETOF(LaunchParams, domeLightExposure)},
-        { "domeLightColor",          OWL_USER_TYPE(glm::vec3),          OWL_OFFSETOF(LaunchParams, domeLightColor)},
+        { "domeLightColor",          OWL_USER_TYPE(glm::vec4),          OWL_OFFSETOF(LaunchParams, domeLightColor)},
         { "directClamp",             OWL_USER_TYPE(float),              OWL_OFFSETOF(LaunchParams, directClamp)},
         { "indirectClamp",           OWL_USER_TYPE(float),              OWL_OFFSETOF(LaunchParams, indirectClamp)},
         { "maxDiffuseDepth",         OWL_USER_TYPE(uint32_t),           OWL_OFFSETOF(LaunchParams, maxDiffuseDepth)},
@@ -892,13 +892,15 @@ void setDomeLightExposure(float exposure)
     resetAccumulation();
 }
 
-void setDomeLightColor(vec3 color)
+void setDomeLightColor(vec3 color, float alpha)
 {
     clearDomeLightTexture();
-    color.r = glm::max(0.f, glm::min(color.r, 1.f));
-    color.g = glm::max(0.f, glm::min(color.g, 1.f));
-    color.b = glm::max(0.f, glm::min(color.b, 1.f));
-    OptixData.LP.domeLightColor = color;
+    vec4 c;
+    c.r = glm::max(0.f, glm::min(color.r, 1.f));
+    c.g = glm::max(0.f, glm::min(color.g, 1.f));
+    c.b = glm::max(0.f, glm::min(color.b, 1.f));
+    c.a = glm::max(0.f, glm::min(alpha, 1.f));
+    OptixData.LP.domeLightColor = c;
     resetAccumulation();
 }
 
@@ -938,9 +940,9 @@ vec3 toPolar(vec2 uv)
     return n;
 }
 
-void setDomeLightSky(vec3 sunPos, vec3 skyTint, float atmosphereThickness, float saturation)
+void setDomeLightSky(vec3 sunPos, vec3 skyTint, float atmosphereThickness, float saturation, float alpha)
 {
-    enqueueCommand([sunPos, skyTint, atmosphereThickness, saturation] () {
+    enqueueCommand([sunPos, skyTint, atmosphereThickness, saturation, alpha] () {
         /* Generate procedural sky */
         uint32_t width = 1024/2;
         uint32_t height = 512/2;
@@ -950,7 +952,7 @@ void setDomeLightSky(vec3 sunPos, vec3 skyTint, float atmosphereThickness, float
                 glm::vec2 uv = glm::vec2(x / float(width), y / float(height));
                 glm::vec3 dir = toPolar(uv);
                 glm::vec3 c = ProceduralSkybox(glm::vec3(dir.x, -dir.z, dir.y), glm::vec3(sunPos.x, sunPos.z, sunPos.y), skyTint, atmosphereThickness, saturation);
-                texels[x + y * width] = glm::vec4(c.r, c.g, c.b, 1.0f);
+                texels[x + y * width] = glm::vec4(c.r, c.g, c.b, alpha);
             }
         }
 
@@ -1141,6 +1143,15 @@ void updateComponents()
     std::lock_guard<std::recursive_mutex> texture_lock(Texture::areAnyDirty()     ? *Texture::getEditMutex().get() : dummyMutex);
     std::lock_guard<std::recursive_mutex> volume_lock(Volume::areAnyDirty()       ? *Volume::getEditMutex().get() : dummyMutex);
 
+    // Manage transforms
+    auto dirtyTransforms = Transform::getDirtyTransforms();
+    if (dirtyTransforms.size() > 0) {
+        Transform::updateComponents();
+
+        // cudaSetDevice(0);
+        owlBufferUpload(OptixData.transformBuffer, Transform::getFrontStruct());
+    }  
+
     // Manage Meshes: Build / Rebuild BLAS
     auto dirtyMeshes = Mesh::getDirtyMeshes();
     if (dirtyMeshes.size() > 0) {
@@ -1487,15 +1498,6 @@ void updateComponents()
         owlBufferUpload(OptixData.textureBuffer, OptixData.textureStructs.data());
     }
     
-    // Manage transforms
-    auto dirtyTransforms = Transform::getDirtyTransforms();
-    if (dirtyTransforms.size() > 0) {
-        Transform::updateComponents();
-
-        // cudaSetDevice(0);
-        owlBufferUpload(OptixData.transformBuffer, Transform::getFrontStruct());
-    }   
-
     // Manage Cameras
     if (Camera::areAnyDirty()) {
         Camera::updateComponents();
@@ -1942,7 +1944,7 @@ std::vector<float> render(uint32_t width, uint32_t height, uint32_t samplesPerPi
                 auto glfw = Libraries::GLFW::Get();
                 glfw->poll_events();
                 glfw->swap_buffers("NVISII");
-                glClearColor(1,1,1,1);
+                glClearColor(0,0,0,0);
                 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
             }
 
@@ -2111,7 +2113,7 @@ std::vector<float> renderData(uint32_t width, uint32_t height, uint32_t startFra
                 auto glfw = Libraries::GLFW::Get();
                 glfw->poll_events();
                 glfw->swap_buffers("NVISII");
-                glClearColor(1,1,1,1);
+                glClearColor(0,0,0,0);
                 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
             }
 
@@ -2207,19 +2209,6 @@ void renderDataToFile(uint32_t width, uint32_t height, uint32_t startFrame, uint
     }
 }
 
-static bool renderToHDRDeprecatedShown = false;
-void renderToHDR(uint32_t width, uint32_t height, uint32_t samplesPerPixel, std::string imagePath, uint32_t seed)
-{
-    if (renderToHDRDeprecatedShown == false) {
-        std::cout<<"Warning, render_to_hdr is deprecated and will be removed in a subsequent release. Please switch to render_to_file." << std::endl;
-        renderToHDRDeprecatedShown = true;
-    }
-
-    std::vector<float> fb = render(width, height, samplesPerPixel, seed);
-    stbi_flip_vertically_on_write(true);
-    stbi_write_hdr(imagePath.c_str(), width, height, /* num channels*/ 4, fb.data());
-}
-
 float linearToSRGB(float x) {
     if (x <= 0.0031308f) {
 		return 12.92f * x;
@@ -2248,36 +2237,6 @@ vec3 Uncharted2Tonemap(vec3 x)
 	return max(vec3(0.0f), ((x*(A*x+C*B)+D*E_)/(x*(A*x+B)+D*F))-E_/F);
 }
 
-static bool renderToPNGDeprecatedShown = false;
-void renderToPNG(uint32_t width, uint32_t height, uint32_t samplesPerPixel, std::string imagePath, uint32_t seed)
-{
-    if (renderToPNGDeprecatedShown == false) {
-        std::cout<<"Warning, render_to_png is deprecated and will be removed in a subsequent release. Please switch to render_to_file." << std::endl;
-        renderToPNGDeprecatedShown = true;
-    }
-
-    // float exposure = 2.f; // TODO: expose as a parameter
-
-    std::vector<float> fb = render(width, height, samplesPerPixel, seed);
-    std::vector<uint8_t> colors(4 * width * height);
-    for (size_t i = 0; i < (width * height); ++i) {     
-        vec3 color = vec3(fb[i * 4 + 0], fb[i * 4 + 1], fb[i * 4 + 2]);
-        float alpha = fb[i * 4 + 3];
-
-        // color = Uncharted2Tonemap(color * exposure);
-        // color = color * (1.0f / Uncharted2Tonemap(vec3(11.2f)));
-
-        color = glm::convertLinearToSRGB(color);
-
-        colors[i * 4 + 0] = uint8_t(glm::clamp(color.r * 255.f, 0.f, 255.f));
-        colors[i * 4 + 1] = uint8_t(glm::clamp(color.g * 255.f, 0.f, 255.f));
-        colors[i * 4 + 2] = uint8_t(glm::clamp(color.b * 255.f, 0.f, 255.f));
-        colors[i * 4 + 3] = uint8_t(glm::clamp(alpha * 255.f, 0.f, 255.f));
-    }
-    stbi_flip_vertically_on_write(true);
-    stbi_write_png(imagePath.c_str(), width, height, /* num channels*/ 4, colors.data(), /* stride in bytes */ width * 4);
-}
-
 void renderToFile(uint32_t width, uint32_t height, uint32_t samplesPerPixel, std::string imagePath, uint32_t seed)
 {
     std::vector<float> fb = render(width, height, samplesPerPixel, seed);
@@ -2347,10 +2306,8 @@ void initializeComponentFactories(
 
 void reproject(glm::vec4 *samplesBuffer, glm::vec4 *t0AlbedoBuffer, glm::vec4 *t1AlbedoBuffer, glm::vec4 *mvecBuffer, glm::vec4 *scratchBuffer, glm::vec4 *imageBuffer, int width, int height);
 
-
-static bool initializeInteractiveDeprecatedShown = false;
-static bool initializeHeadlessDeprecatedShown = false;
-void initializeInteractive(
+void initialize(
+    bool headless, 
     bool windowOnTop, 
     bool _verbose,
     uint32_t maxEntities,
@@ -2360,13 +2317,8 @@ void initializeInteractive(
     uint32_t maxMaterials,
     uint32_t maxLights,
     uint32_t maxTextures,
-    uint32_t maxVolumes)
+    uint32_t maxVolumes) 
 {
-    if (initializeInteractiveDeprecatedShown == false) {
-        std::cout<<"Warning, initialize_interactive is deprecated and will be removed in a subsequent release. Please switch to initialize." << std::endl;
-        initializeInteractiveDeprecatedShown = true;
-    }
-
     // don't initialize more than once
     if (initialized == true) {
         throw std::runtime_error("Error: already initialized!");
@@ -2376,52 +2328,67 @@ void initializeInteractive(
     stopped = false;
     verbose = _verbose;
     NVISII.callback = nullptr;
+    NVISII.headlessMode = headless;
 
     initializeComponentFactories(maxEntities, maxCameras, maxTransforms, maxMeshes, maxMaterials, maxLights, maxTextures, maxVolumes);
 
     auto loop = [windowOnTop]() {
         NVISII.render_thread_id = std::this_thread::get_id();
-        NVISII.headlessMode = false;
+        Libraries::GLFW *glfw = nullptr;
 
-        auto glfw = Libraries::GLFW::Get();
-        WindowData.window = glfw->create_window("NVISII", 512, 512, windowOnTop, true, true);
-        WindowData.currentSize = WindowData.lastSize = ivec2(512, 512);
-        glfw->make_context_current("NVISII");
-        glfw->poll_events();
+        if (!NVISII.headlessMode) 
+        {
+            glfw = Libraries::GLFW::Get();
+            WindowData.window = glfw->create_window("NVISII", 512, 512, windowOnTop, true, true);
+            WindowData.currentSize = WindowData.lastSize = ivec2(512, 512);
+            glfw->make_context_current("NVISII");
+            glfw->poll_events();
+        }
 
-        initializeOptix(/*headless = */ false);
-        initializeImgui();
+        initializeOptix(/*headless = */ NVISII.headlessMode);
 
         int numGPUs = owlGetDeviceCount(OptixData.context);
 
+        if (!NVISII.headlessMode) {
+            initializeImgui();
+            glEnable(GL_BLEND);
+            glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+        } 
+
         while (!stopped)
         {
-            /* Poll events from the window */
-            glfw->poll_events();
-            glfw->swap_buffers("NVISII");
-            glClearColor(1,1,1,1);
-            glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
-            if (NVISII.callback && NVISII.callbackMutex.try_lock()) {
-                NVISII.callback();
-                NVISII.callbackMutex.unlock();
-            }
+            if (!paused) {
+                if (!NVISII.headlessMode) {
+                    /* Poll events from the window */
+                    glfw->poll_events();
+                    glfw->swap_buffers("NVISII");
+                        glClearColor(0,0,0,0);
+                        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+                }
 
-            static double start=0;
-            static double stop=0;
-            start = glfwGetTime();
+                if (NVISII.callback && NVISII.callbackMutex.try_lock()) {
+                    NVISII.callback();
+                    NVISII.callbackMutex.unlock();
+                }
+                
+                static double start=0;
+                static double stop=0;
 
-            if (!lazyUpdatesEnabled) {
-                updateFrameBuffer();
+                if (!NVISII.headlessMode) {
+                    start = glfwGetTime();
+                    updateFrameBuffer();
+                }
+                
                 updateComponents();
                 updateLaunchParams();
-
+                
                 for (uint32_t deviceID = 0; deviceID < numGPUs; deviceID++) {
                     cudaSetDevice(deviceID);
                     cudaEventRecord(NVISII.events[deviceID].first, owlParamsGetCudaStream(OptixData.launchParams, deviceID));
                     owlAsyncLaunch2DOnDevice(OptixData.rayGen, OptixData.LP.frameSize.x * OptixData.LP.frameSize.y, 1, deviceID, OptixData.launchParams);
                     cudaEventRecord(NVISII.events[deviceID].second, owlParamsGetCudaStream(OptixData.launchParams, deviceID));
                 }
+
                 owlLaunchSync(OptixData.launchParams);
                 for (uint32_t deviceID = 0; deviceID < numGPUs; deviceID++) {
                     cudaEventElapsedTime(&NVISII.times[deviceID], NVISII.events[deviceID].first, NVISII.events[deviceID].second);
@@ -2432,21 +2399,14 @@ void initializeInteractive(
                 if (OptixData.enableDenoiser) {
                     denoiseImage();
                 }
+
+                if (!NVISII.headlessMode) {
+                    drawFrameBufferToWindow();
+                    stop = glfwGetTime();
+                    glfwSetWindowTitle(WindowData.window, std::to_string(1.f / (stop - start)).c_str());
+                    drawGUI();            
+                }
             }
-            // glm::vec4* samplePtr = (glm::vec4*) owlBufferGetPointer(OptixData.accumBuffer,0);
-            // glm::vec4* mvecPtr = (glm::vec4*) owlBufferGetPointer(OptixData.mvecBuffer,0);
-            // glm::vec4* t0AlbPtr = (glm::vec4*) owlBufferGetPointer(OptixData.scratchBuffer,0);
-            // glm::vec4* t1AlbPtr = (glm::vec4*) owlBufferGetPointer(OptixData.albedoBuffer,0);
-            // glm::vec4* fbPtr = (glm::vec4*) owlBufferGetPointer(OptixData.frameBuffer,0);
-            // glm::vec4* sPtr = (glm::vec4*) owlBufferGetPointer(OptixData.normalBuffer,0);
-            // int width = OptixData.LP.frameSize.x;
-            // int height = OptixData.LP.frameSize.y;
-            // reproject(samplePtr, t0AlbPtr, t1AlbPtr, mvecPtr, sPtr, fbPtr, width, height);
-
-            drawFrameBufferToWindow();
-            stop = glfwGetTime();
-            glfwSetWindowTitle(WindowData.window, std::to_string(1.f / (stop - start)).c_str());
-            drawGUI();
 
             processCommandQueue();
             checkForErrors();
@@ -2456,71 +2416,19 @@ void initializeInteractive(
         if (OptixData.denoiser)
             OPTIX_CHECK(optixDenoiserDestroy(OptixData.denoiser));
 
-        if (OptixData.imageTexID != -1) {
-            if (OptixData.cudaResourceTex) {
-                cudaGraphicsUnregisterResource(OptixData.cudaResourceTex);
-                OptixData.cudaResourceTex = 0;
+        if (!NVISII.headlessMode) {
+            if (OptixData.imageTexID != -1) {
+                if (OptixData.cudaResourceTex) {
+                    cudaGraphicsUnregisterResource(OptixData.cudaResourceTex);
+                    OptixData.cudaResourceTex = 0;
+                }
+                glDeleteTextures(1, &OptixData.imageTexID);
             }
-            glDeleteTextures(1, &OptixData.imageTexID);
-        }
-
-        ImGui::DestroyContext();
-        if (glfw->does_window_exist("NVISII")) glfw->destroy_window("NVISII");
-
-        owlContextDestroy(OptixData.context);
-    };
-
-    renderThread = std::thread(loop);
-
-    // Waits for the render thread to start before returning
-    enqueueCommandAndWait([] () {});
-}
-
-void initializeHeadless(
-    bool _verbose, 
-    uint32_t maxEntities,
-    uint32_t maxCameras,
-    uint32_t maxTransforms,
-    uint32_t maxMeshes,
-    uint32_t maxMaterials,
-    uint32_t maxLights,
-    uint32_t maxTextures,
-    uint32_t maxVolumes)
-{
-    if (initializeHeadlessDeprecatedShown == false) {
-        std::cout<<"Warning, initialize_headless is deprecated and will be removed in a subsequent release. Please switch to initialize(headless = True)." << std::endl;
-        initializeHeadlessDeprecatedShown = true;
-    }
-
-    // don't initialize more than once
-    if (initialized == true) {
-        throw std::runtime_error("Error: already initialized!");
-    }
-
-    initialized = true;
-    stopped = false;
-    verbose = _verbose;
-    NVISII.callback = nullptr;
-
-    initializeComponentFactories(maxEntities, maxCameras, maxTransforms, maxMeshes, maxMaterials, maxLights, maxTextures, maxVolumes);
 
-    auto loop = []() {
-        NVISII.render_thread_id = std::this_thread::get_id();
-        NVISII.headlessMode = true;
-
-        initializeOptix(/*headless = */ true);
-
-        while (!stopped)
-        {
-            if(NVISII.callback){
-                NVISII.callback();
-            }
-            processCommandQueue();
-            if (stopped) break;
+            ImGui::DestroyContext();
+            auto glfw = Libraries::GLFW::Get();
+            if (glfw->does_window_exist("NVISII")) glfw->destroy_window("NVISII");
         }
-
-        if (OptixData.denoiser)
-            OPTIX_CHECK(optixDenoiserDestroy(OptixData.denoiser));
         
         owlContextDestroy(OptixData.context);
     };
@@ -2531,36 +2439,6 @@ void initializeHeadless(
     enqueueCommandAndWait([] () {});
 }
 
-void initialize(
-    bool headless, 
-    bool windowOnTop, 
-    bool _lazyUpdatesEnabled, 
-    bool verbose,
-    uint32_t maxEntities,
-    uint32_t maxCameras,
-    uint32_t maxTransforms,
-    uint32_t maxMeshes,
-    uint32_t maxMaterials,
-    uint32_t maxLights,
-    uint32_t maxTextures,
-    uint32_t maxVolumes) 
-{
-    lazyUpdatesEnabled = _lazyUpdatesEnabled;
-    // prevents deprecated warning from showing
-    initializeInteractiveDeprecatedShown = true;
-    initializeHeadlessDeprecatedShown = true;
-
-    lazyUpdatesEnabled = _lazyUpdatesEnabled;
-    if (headless) 
-        initializeHeadless(
-            verbose, maxEntities, maxCameras, maxTransforms, maxMeshes, 
-            maxMaterials, maxLights, maxTextures, maxVolumes);
-    else 
-        initializeInteractive(
-            windowOnTop, verbose, maxEntities, maxCameras, maxTransforms, 
-            maxMeshes, maxMaterials, maxLights, maxTextures, maxVolumes);
-}
-
 static bool registerPreRenderCallbackDeprecatedShown = false;
 void registerPreRenderCallback(std::function<void()> callback){
     if (registerPreRenderCallbackDeprecatedShown == false) {
@@ -2622,17 +2500,17 @@ void updateSceneAabb(Entity* entity)
 
 void enableUpdates()
 {
-    enqueueCommandAndWait([] () { lazyUpdatesEnabled = false; });
+    enqueueCommandAndWait([] () { paused = false; });
 }
 
 void disableUpdates()
 {
-    enqueueCommandAndWait([] () { lazyUpdatesEnabled = true; });
+    enqueueCommandAndWait([] () { paused = true; });
 }
 
 bool areUpdatesEnabled()
 {
-    return lazyUpdatesEnabled == false;
+    return paused == false;
 }
 
 #ifdef __unix__
diff --git a/src/nvisii/transform.cpp b/src/nvisii/transform.cpp
index 96950ce5..0e1ec67a 100644
--- a/src/nvisii/transform.cpp
+++ b/src/nvisii/transform.cpp
@@ -42,6 +42,14 @@ std::set<Transform*> Transform::getDirtyTransforms()
 void Transform::updateComponents() 
 {
 	if (dirtyTransforms.size() == 0) return;
+	
+	// first, update transform matrices
+	for (auto &t : dirtyTransforms) {
+		if (!t->isInitialized()) continue;
+		t->updateMatrix();
+	}
+
+	// next, copy over the local to world matrices
 	for (auto &t : dirtyTransforms) {
 		if (!t->isInitialized()) continue;
 		transformStructs[t->id].localToWorld = t->getLocalToWorldMatrix(false);
@@ -299,7 +307,6 @@ void Transform::lookAt(vec3 at, vec3 up, vec3 eye, bool previous)
 // 	localToParentTranslation = glm::translate(glm::mat4(1.0), position);
 // 	parentToLocalTranslation = glm::translate(glm::mat4(1.0), -position);
 
-// 	updateMatrix();
 // 	markDirty();
 // }
 
@@ -326,7 +333,6 @@ void Transform::rotateAround(vec3 point, glm::quat rot, bool previous)
 	// ltpt = glm::translate(glm::mat4(1.0), t);
 	// ptlt = glm::translate(glm::mat4(1.0), -t);
 
-	updateMatrix();
 	markDirty();
 }
 
@@ -407,7 +413,6 @@ void Transform::setTransform(glm::mat4 transformation, bool decompose, bool prev
 			this->localToParentTransform = transformation;
 			// this->parentToLocalTransform = glm::inverse(transformation);
 		}
-		updateMatrix();
 	}
 	markDirty();
 }
@@ -423,7 +428,6 @@ void Transform::setRotation(quat newRotation, bool previous)
 	if (previous) useRelativeAngularMotionBlur = false;
 	auto &r = (previous) ? prevRotation : rotation;
 	r = glm::normalize(newRotation);
-	updateRotation();
 	markDirty();
 }
 
@@ -436,7 +440,6 @@ void Transform::addRotation(quat additionalRotation, bool previous)
 {
 	if (previous) useRelativeAngularMotionBlur = false;
 	setRotation(getRotation(previous) * additionalRotation, previous);
-	updateRotation();
 	markDirty();
 }
 
@@ -445,21 +448,6 @@ void Transform::addAngleAxis(float angle, vec3 axis, bool previous)
 	addRotation(glm::angleAxis(angle, axis), previous);
 }
 
-void Transform::updateRotation()
-{
-	// localToParentRotation = glm::toMat4(rotation);
-	// parentToLocalRotation = glm::inverse(localToParentRotation);
-
-	// if (useRelativeMotionBlur) {
-	// 	prevLocalToParentRotation = glm::toMat4(angularVelocity * rotation);
-	// } else {
-	// 	prevLocalToParentRotation = glm::toMat4(prevRotation);
-	// }
-	// prevParentToLocalRotation = glm::inverse(prevLocalToParentRotation);
-	updateMatrix();
-	markDirty();
-}
-
 vec3 Transform::getPosition(bool previous)
 {
 	if (previous) return prevPosition;
@@ -513,7 +501,6 @@ void Transform::setPosition(vec3 newPosition, bool previous)
 	if (previous) useRelativeLinearMotionBlur = false;
 	auto &p = (previous) ? prevPosition : position;
 	p = newPosition;
-	updatePosition();
 	markDirty();
 }
 
@@ -521,7 +508,6 @@ void Transform::addPosition(vec3 additionalPosition, bool previous)
 {
 	if (previous) useRelativeLinearMotionBlur = false;
 	setPosition(getPosition(previous) + additionalPosition, previous);
-	updatePosition();
 	markDirty();
 }
 
@@ -531,7 +517,6 @@ void Transform::setLinearVelocity(vec3 newLinearVelocity, float framesPerSecond,
 	mix = glm::clamp(mix, 0.f, 1.f);
 	newLinearVelocity /= framesPerSecond;
 	linearMotion = glm::mix(newLinearVelocity, linearMotion, mix);
-	updatePosition();
 	markDirty();
 }
 
@@ -543,7 +528,6 @@ void Transform::setAngularVelocity(quat newAngularVelocity, float framesPerSecon
 	newAngularVelocity[1] = newAngularVelocity[1] / framesPerSecond;
 	newAngularVelocity[2] = newAngularVelocity[2] / framesPerSecond;
 	angularMotion = glm::lerp(newAngularVelocity, angularMotion, mix);
-	updateRotation();
 	markDirty();
 }
 
@@ -553,7 +537,6 @@ void Transform::setScalarVelocity(vec3 newScalarVelocity, float framesPerSecond,
 	mix = glm::clamp(mix, 0.f, 1.f);
 	newScalarVelocity /= framesPerSecond;
 	scalarMotion = glm::mix(newScalarVelocity, scalarMotion, mix);
-	updateScale();
 	markDirty();
 }
 
@@ -565,7 +548,6 @@ void Transform::clearMotion()
 	scalarMotion = glm::vec3(0.f);
 	angularMotion = glm::quat(1.f, 0.f, 0.f, 0.f);
 	linearMotion = glm::vec3(0.f);
-	updateMatrix();
 	markDirty();
 }
 
@@ -581,21 +563,6 @@ void Transform::clearMotion()
 // 	markDirty();
 // }
 
-void Transform::updatePosition()
-{
-	// localToParentTranslation = glm::translate(glm::mat4(1.0), position);
-	// parentToLocalTranslation = glm::translate(glm::mat4(1.0), -position);
-	// if (useRelativeMotionBlur) {
-	// 	prevLocalToParentTranslation = glm::translate(glm::mat4(1.0), position + linearVelocity);
-	// 	prevParentToLocalTranslation = glm::translate(glm::mat4(1.0), -position + linearVelocity);
-	// } else {
-	// 	prevLocalToParentTranslation = glm::translate(glm::mat4(1.0), prevPosition);
-	// 	prevParentToLocalTranslation = glm::translate(glm::mat4(1.0), -prevPosition);
-	// }
-	updateMatrix();
-	markDirty();
-}
-
 vec3 Transform::getScale(bool previous)
 {
 	if (previous) return prevScale;
@@ -607,14 +574,12 @@ void Transform::setScale(vec3 newScale, bool previous)
 	if (previous) useRelativeScalarMotionBlur = false;
 	auto &s = (previous) ? prevScale : scale;
 	s = newScale;
-	updateScale();
 	markDirty();
 }
 
 // void Transform::setScale(float newScale)
 // {
 // 	scale = vec3(newScale, newScale, newScale);
-// 	updateScale();
 // 	markDirty();
 // }
 
@@ -622,7 +587,6 @@ void Transform::addScale(vec3 additionalScale, bool previous)
 {
 	if (previous) useRelativeScalarMotionBlur = false;
 	setScale(getScale(previous) + additionalScale, previous);
-	updateScale();
 	markDirty();
 }
 
@@ -644,41 +608,32 @@ void Transform::addScale(vec3 additionalScale, bool previous)
 // 	markDirty();
 // }
 
-void Transform::updateScale()
-{
-	// localToParentScale = glm::scale(glm::mat4(1.0), scale);
-	// parentToLocalScale = glm::scale(glm::mat4(1.0), glm::vec3(1.0 / scale.x, 1.0 / scale.y, 1.0 / scale.z));
-	// if (useRelativeMotionBlur) {
-	// 	prevLocalToParentScale = glm::scale(glm::mat4(1.0), scale + scalarVelocity);
-	// 	prevParentToLocalScale = glm::scale(glm::mat4(1.0), glm::vec3(1.0 / (scale.x + scalarVelocity.x), 1.0 / (scale.y + scalarVelocity.y), 1.0 / (scale.z + scalarVelocity.z)));
-	// } else {
-	// 	prevLocalToParentScale = glm::scale(glm::mat4(1.0), prevScale);
-	// 	prevParentToLocalScale = glm::scale(glm::mat4(1.0), glm::vec3(1.0 / prevScale.x, 1.0 / prevScale.y, 1.0 / prevScale.z));
-	// }
-	updateMatrix();
-	markDirty();
-}
-
 void Transform::updateMatrix()
 {
+	// Update the current transform matrices
 	localToParentMatrix = (localToParentTransform * getLocalToParentTranslationMatrix(false) * getLocalToParentRotationMatrix(false) * getLocalToParentScaleMatrix(false));
 	parentToLocalMatrix = (getParentToLocalScaleMatrix(false) * getParentToLocalRotationMatrix(false) * getParentToLocalTranslationMatrix(false) * glm::inverse(localToParentTransform));
 
 	prevLocalToParentMatrix = (prevLocalToParentTransform * getLocalToParentTranslationMatrix(true) * getLocalToParentRotationMatrix(true) * getLocalToParentScaleMatrix(true));
 	prevParentToLocalMatrix = (getParentToLocalScaleMatrix(true) * getParentToLocalRotationMatrix(true) * getParentToLocalTranslationMatrix(true) * glm::inverse(prevLocalToParentTransform));
 
-	// right = glm::vec3(localToParentMatrix[0]);
-	// up = glm::vec3(localToParentMatrix[1]);
-	// forward = glm::vec3(localToParentMatrix[2]);
-	// position = glm::vec3(localToParentMatrix[3]);
-
-	// prevRight = glm::vec3(prevLocalToParentMatrix[0]);
-	// prevUp = glm::vec3(prevLocalToParentMatrix[1]);
-	// prevForward = glm::vec3(prevLocalToParentMatrix[2]);
-	// prevPosition = glm::vec3(prevLocalToParentMatrix[3]);
+	if (parent == -1) {
+		worldToLocalMatrix = parentToLocalMatrix;
+		localToWorldMatrix = localToParentMatrix;
+		prevWorldToLocalMatrix = prevParentToLocalMatrix;
+		prevLocalToWorldMatrix = prevLocalToParentMatrix;
+	} else {
+		worldToLocalMatrix = computeWorldToLocalMatrix(/*previous=*/false);
+		prevWorldToLocalMatrix = computeWorldToLocalMatrix(/*previous=*/true);
+		localToWorldMatrix = glm::inverse(worldToLocalMatrix); 
+		prevLocalToWorldMatrix = glm::inverse(prevWorldToLocalMatrix); 
+	}
 
-	updateChildren();
-	markDirty();
+	// If this transform has children, update those too.
+	for (auto &c : children) {
+		auto &t = transforms[c];
+		t.updateMatrix();
+	}
 }
 
 glm::mat4 Transform::computeWorldToLocalMatrix(bool previous)
@@ -701,37 +656,6 @@ glm::mat4 Transform::computeWorldToLocalMatrix(bool previous)
 // 	else return getNextParentToLocalMatrix();
 // }
 
-void Transform::updateWorldMatrix()
-{
-	if (parent == -1) {
-		worldToLocalMatrix = parentToLocalMatrix;
-		localToWorldMatrix = localToParentMatrix;
-		prevWorldToLocalMatrix = prevParentToLocalMatrix;
-		prevLocalToWorldMatrix = prevLocalToParentMatrix;
-
-		// worldScale = scale;
-		// worldTranslation = position;
-		// worldRotation = rotation;
-		// worldSkew = glm::vec3(0.f, 0.f, 0.f);
-		// worldPerspective = glm::vec4(1.0f, 1.0f, 1.0f, 1.0f); // not sure what this should default to...
-
-		// prevWorldScale = prevScale;
-		// prevWorldTranslation = prevPosition;
-		// prevWorldRotation = prevRotation;
-		// prevWorldSkew = glm::vec3(0.f, 0.f, 0.f);
-		// prevWorldPerspective = glm::vec4(1.0f, 1.0f, 1.0f, 1.0f); // not sure what this should default to...
-	} else {
-		worldToLocalMatrix = computeWorldToLocalMatrix(/*previous=*/false);
-		prevWorldToLocalMatrix = computeWorldToLocalMatrix(/*previous=*/true);
-		localToWorldMatrix = glm::inverse(worldToLocalMatrix); 
-		prevLocalToWorldMatrix = glm::inverse(prevWorldToLocalMatrix); 
-		// glm::decompose(localToWorldMatrix, worldScale, worldRotation, worldTranslation, worldSkew, worldPerspective);
-		// glm::decompose(prevLocalToWorldMatrix, prevWorldScale, prevWorldRotation, prevWorldTranslation, prevWorldSkew, prevWorldPerspective);
-		// glm::decompose(nextLocalToWorldMatrix, worldScale, worldRotation, worldTranslation, worldSkew, worldPerspective);
-	}
-	markDirty();
-}
-
 glm::mat4 Transform::getParentToLocalMatrix(bool previous)
 {
 	if (previous) return prevParentToLocalMatrix;
@@ -832,7 +756,6 @@ void Transform::setParent(Transform *parent) {
 
 	this->parent = parent->getId();
 	transforms[parent->getId()].children.insert(this->id);
-	updateChildren();
 	markDirty();
 }
 
@@ -845,7 +768,6 @@ void Transform::clearParent()
 	
 	transforms[parent].children.erase(this->id);
 	this->parent = -1;
-	updateChildren();
 	markDirty();
 }
 
@@ -874,7 +796,6 @@ void Transform::removeChild(Transform *object) {
 
 	children.erase(object->getId());
 	transforms[object->getId()].parent = -1;
-	transforms[object->getId()].updateWorldMatrix();
 	transforms[object->getId()].markDirty();
 }
 
@@ -950,18 +871,6 @@ glm::mat4 Transform::getLocalToWorldMatrix(bool previous) {
 // 	return m;
 // }
 
-
-void Transform::updateChildren()
-{
-	for (auto &c : children) {
-		auto &t = transforms[c];
-		t.updateChildren();
-	}
-
-	updateWorldMatrix();
-	markDirty();
-}
-
 TransformStruct &Transform::getStruct()
 {
 	return transformStructs[id];