Reductively, software engineering means taking an idea and mapping it into code. So one form of "reverse" engineering would be taking the code and extracting the ideas. That's what we did here.
Because the source is public, there's quite a lot to work with from the start -- the warp specializations are named and there are helpful comments in many places.
But for many components, we didn't have much. Maybe the clearest case of "reverse engineering" explained in the post is with the cubic approximation for the rational part of the exponentiation. That required staring at some inline assembly and doing math.