warp-lang 0.9.0__py3-none-win_amd64.whl → 0.11.0__py3-none-win_amd64.whl

warp/tests/test_fabricarray.py

@@ -0,0 +1,955 @@
+# Copyright (c) 2023 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+import math
+import unittest
+from typing import Any
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+wp.init()
+
+
+# types to test fabric arrays
+_fabric_types = [
+    *wp.types.scalar_types,
+    *[wp.types.vector(2, T) for T in wp.types.scalar_types],
+    *[wp.types.vector(3, T) for T in wp.types.scalar_types],
+    *[wp.types.vector(4, T) for T in wp.types.scalar_types],
+    *[wp.types.matrix((2, 2), T) for T in wp.types.scalar_types],
+    *[wp.types.matrix((3, 3), T) for T in wp.types.scalar_types],
+    *[wp.types.matrix((4, 4), T) for T in wp.types.scalar_types],
+    *[wp.types.quaternion(T) for T in wp.types.float_types],
+]
+
+
+def _warp_type_to_fabric(dtype, is_array=False):
+    scalar_map = {
+        wp.bool: "b",
+        wp.int8: "i1",
+        wp.int16: "i2",
+        wp.int32: "i4",
+        wp.int64: "i8",
+        wp.uint8: "u1",
+        wp.uint16: "u2",
+        wp.uint32: "u4",
+        wp.uint64: "u8",
+        wp.float16: "f2",
+        wp.float32: "f4",
+        wp.float64: "f8",
+    }
+
+    if hasattr(dtype, "_wp_scalar_type_"):
+        type_str = scalar_map[dtype._wp_scalar_type_]
+        if len(dtype._shape_) == 1:
+            role = "vector"
+        else:
+            role = "matrix"
+    else:
+        type_str = scalar_map[dtype]
+        role = ""
+
+    if is_array:
+        array_depth = 1
+    else:
+        array_depth = 0
+
+    return (True, type_str, dtype._length_, array_depth, role)
+
+
+# returns a fabric array interface constructed from a regular array
+def _create_fabric_array_interface(data: wp.array, attrib: str, bucket_sizes: list = None, copy=False):
+    assert isinstance(data, wp.array)
+    assert data.ndim == 1
+
+    assert isinstance(attrib, str)
+
+    if copy:
+        data = wp.clone(data)
+
+    if bucket_sizes is not None:
+        assert hasattr(bucket_sizes, "__len__")
+
+        # verify total size
+        total_size = 0
+        for bucket_size in bucket_sizes:
+            total_size += bucket_size
+
+        if total_size != data.size:
+            raise RuntimeError("Bucket sizes don't add up to the size of data array")
+
+    elif data.size > 0:
+        rng = np.random.default_rng(123)
+
+        # generate random bucket sizes
+        bucket_min = 1
+        bucket_max = math.ceil(0.5 * data.size)
+        total_size = data.size
+        size_remaining = total_size
+
+        bucket_sizes = []
+        while size_remaining >= bucket_max:
+            bucket_size = rng.integers(bucket_min, high=bucket_max, dtype=int)
+            bucket_sizes.append(bucket_size)
+            size_remaining -= bucket_size
+
+        if size_remaining > 0:
+            bucket_sizes.append(size_remaining)
+
+    else:
+        # empty data array
+        bucket_sizes = []
+
+    dtype_size = wp.types.type_size_in_bytes(data.dtype)
+    p = int(data.ptr) if data.ptr else 0
+    pointers = []
+    counts = []
+    for bucket_size in bucket_sizes:
+        pointers.append(p)
+        counts.append(bucket_size)
+        p += bucket_size * dtype_size
+
+    attrib_info = {}
+
+    attrib_info["type"] = _warp_type_to_fabric(data.dtype)
+    attrib_info["access"] = 2  # ReadWrite
+    attrib_info["pointers"] = pointers
+    attrib_info["counts"] = counts
+
+    iface = {}
+    iface["version"] = 1
+    iface["device"] = str(data.device)
+    iface["attribs"] = {attrib: attrib_info}
+    iface["_ref"] = data  # backref to keep the array alive
+
+    return iface
+
+
+# returns a fabric array array interface constructed from a list of regular arrays
+def _create_fabric_array_array_interface(data: list, attrib: str, bucket_sizes: list = None):
+    # data should be a list of arrays
+    assert isinstance(data, list)
+
+    num_arrays = len(data)
+    assert num_arrays > 0
+
+    device = data[0].device
+    dtype = data[0].dtype
+
+    assert isinstance(attrib, str)
+
+    if bucket_sizes is not None:
+        assert hasattr(bucket_sizes, "__len__")
+
+        # verify total size
+        total_size = 0
+        for bucket_size in bucket_sizes:
+            total_size += bucket_size
+
+        if total_size != num_arrays:
+            raise RuntimeError("Bucket sizes don't add up to the number of given arrays")
+
+    else:
+        rng = np.random.default_rng(123)
+
+        # generate random bucket sizes
+        bucket_min = 1
+        bucket_max = math.ceil(0.5 * num_arrays)
+        total_size = num_arrays
+        size_remaining = total_size
+
+        bucket_sizes = []
+        while size_remaining >= bucket_max:
+            bucket_size = rng.integers(bucket_min, high=bucket_max, dtype=int)
+            bucket_sizes.append(bucket_size)
+            size_remaining -= bucket_size
+
+        if size_remaining > 0:
+            bucket_sizes.append(size_remaining)
+
+    # initialize array of pointers to arrays and their lengths
+    _array_pointers = []
+    _array_lengths = []
+    for i in range(num_arrays):
+        _array_pointers.append(data[i].ptr)
+        _array_lengths.append(data[i].size)
+
+    array_pointers = wp.array(_array_pointers, dtype=wp.uint64, device=device)
+    pointer_size = wp.types.type_size_in_bytes(array_pointers.dtype)
+
+    lengths = wp.array(_array_lengths, dtype=wp.uint64, device=device)
+    length_size = wp.types.type_size_in_bytes(lengths.dtype)
+
+    p_pointers = int(array_pointers.ptr)
+    p_lengths = int(lengths.ptr)
+    pointers = []
+    counts = []
+    array_lengths = []
+    for bucket_size in bucket_sizes:
+        pointers.append(p_pointers)
+        counts.append(bucket_size)
+        array_lengths.append(p_lengths)
+        p_pointers += bucket_size * pointer_size
+        p_lengths += bucket_size * length_size
+
+    attrib_info = {}
+
+    attrib_info["type"] = _warp_type_to_fabric(dtype, is_array=True)
+    attrib_info["access"] = 2  # ReadWrite
+    attrib_info["pointers"] = pointers
+    attrib_info["counts"] = counts
+    attrib_info["array_lengths"] = array_lengths
+
+    iface = {}
+    iface["version"] = 1
+    iface["device"] = str(device)
+    iface["attribs"] = {attrib: attrib_info}
+    iface["_ref"] = data  # backref to keep the data arrays alive
+    iface["_ref_pointers"] = array_pointers  # backref to keep the array pointers alive
+    iface["_ref_lengths"] = lengths  # backref to keep the lengths array alive
+
+    return iface
+
+
+@wp.kernel
+def fa_kernel(a: wp.fabricarray(dtype=float), expected: wp.array(dtype=float)):
+    i = wp.tid()
+
+    wp.expect_eq(a[i], expected[i])
+
+    a[i] = 2.0 * a[i]
+
+    wp.atomic_add(a, i, 1.0)
+
+    wp.expect_eq(a[i], 2.0 * expected[i] + 1.0)
+
+
+@wp.kernel
+def fa_kernel_indexed(a: wp.indexedfabricarray(dtype=float), expected: wp.indexedarray(dtype=float)):
+    i = wp.tid()
+
+    wp.expect_eq(a[i], expected[i])
+
+    a[i] = 2.0 * a[i]
+
+    wp.atomic_add(a, i, 1.0)
+
+    wp.expect_eq(a[i], 2.0 * expected[i] + 1.0)
+
+
+def test_fabricarray_kernel(test, device):
+    data = wp.array(data=np.arange(100, dtype=np.float32), device=device)
+    iface = _create_fabric_array_interface(data, "foo", copy=True)
+    fa = wp.fabricarray(data=iface, attrib="foo")
+
+    test.assertEqual(fa.dtype, data.dtype)
+    test.assertEqual(fa.ndim, 1)
+    test.assertEqual(fa.shape, data.shape)
+    test.assertEqual(fa.size, data.size)
+
+    wp.launch(fa_kernel, dim=fa.size, inputs=[fa, data], device=device)
+
+    # reset data
+    wp.copy(fa, data)
+
+    # test indexed
+    indices = wp.array(data=np.arange(1, data.size, 2, dtype=np.int32), device=device)
+    ifa = fa[indices]
+    idata = data[indices]
+
+    test.assertEqual(ifa.dtype, idata.dtype)
+    test.assertEqual(ifa.ndim, 1)
+    test.assertEqual(ifa.shape, idata.shape)
+    test.assertEqual(ifa.size, idata.size)
+
+    wp.launch(fa_kernel_indexed, dim=ifa.size, inputs=[ifa, idata], device=device)
+
+    wp.synchronize_device(device)
+
+
+@wp.kernel
+def fa_generic_dtype_kernel(a: wp.fabricarray(dtype=Any), b: wp.fabricarray(dtype=Any)):
+    i = wp.tid()
+    b[i] = a[i] + a[i]
+
+
+@wp.kernel
+def fa_generic_dtype_kernel_indexed(a: wp.indexedfabricarray(dtype=Any), b: wp.indexedfabricarray(dtype=Any)):
+    i = wp.tid()
+    b[i] = a[i] + a[i]
+
+
+def test_fabricarray_generic_dtype(test, device):
+    for T in _fabric_types:
+        if hasattr(T, "_wp_scalar_type_"):
+            nptype = wp.types.warp_type_to_np_dtype[T._wp_scalar_type_]
+        else:
+            nptype = wp.types.warp_type_to_np_dtype[T]
+
+        data = wp.array(data=np.arange(10, dtype=nptype), device=device)
+        data_iface = _create_fabric_array_interface(data, "foo", copy=True)
+        fa = wp.fabricarray(data=data_iface, attrib="foo")
+
+        result = wp.zeros_like(data)
+        result_iface = _create_fabric_array_interface(result, "foo", copy=True)
+        fb = wp.fabricarray(data=result_iface, attrib="foo")
+
+        test.assertEqual(fa.dtype, fb.dtype)
+        test.assertEqual(fa.ndim, fb.ndim)
+        test.assertEqual(fa.shape, fb.shape)
+        test.assertEqual(fa.size, fb.size)
+
+        wp.launch(fa_generic_dtype_kernel, dim=fa.size, inputs=[fa, fb], device=device)
+
+        assert_np_equal(fb.numpy(), 2 * fa.numpy())
+
+        # reset data
+        wp.copy(fa, data)
+        wp.copy(fb, result)
+
+        # test indexed
+        indices = wp.array(data=np.arange(1, data.size, 2, dtype=np.int32), device=device)
+        ifa = fa[indices]
+        ifb = fb[indices]
+
+        test.assertEqual(ifa.dtype, ifb.dtype)
+        test.assertEqual(ifa.ndim, ifb.ndim)
+        test.assertEqual(ifa.shape, ifb.shape)
+        test.assertEqual(ifa.size, ifb.size)
+
+        wp.launch(fa_generic_dtype_kernel_indexed, dim=ifa.size, inputs=[ifa, ifb], device=device)
+
+        assert_np_equal(ifb.numpy(), 2 * ifa.numpy())
+
+
+@wp.kernel
+def fa_generic_array_kernel(a: Any, b: Any):
+    i = wp.tid()
+    b[i] = a[i] + a[i]
+
+
+def test_fabricarray_generic_array(test, device):
+    for T in _fabric_types:
+        if hasattr(T, "_wp_scalar_type_"):
+            nptype = wp.types.warp_type_to_np_dtype[T._wp_scalar_type_]
+        else:
+            nptype = wp.types.warp_type_to_np_dtype[T]
+
+        data = wp.array(data=np.arange(100, dtype=nptype), device=device)
+        data_iface = _create_fabric_array_interface(data, "foo", copy=True)
+        fa = wp.fabricarray(data=data_iface, attrib="foo")
+
+        result = wp.zeros_like(data)
+        result_iface = _create_fabric_array_interface(result, "foo", copy=True)
+        fb = wp.fabricarray(data=result_iface, attrib="foo")
+
+        test.assertEqual(fa.dtype, fb.dtype)
+        test.assertEqual(fa.ndim, fb.ndim)
+        test.assertEqual(fa.shape, fb.shape)
+        test.assertEqual(fa.size, fb.size)
+
+        wp.launch(fa_generic_array_kernel, dim=fa.size, inputs=[fa, fb], device=device)
+
+        assert_np_equal(fb.numpy(), 2 * fa.numpy())
+
+        # reset data
+        wp.copy(fa, data)
+        wp.copy(fb, result)
+
+        # test indexed
+        indices = wp.array(data=np.arange(1, data.size, 2, dtype=np.int32), device=device)
+        ifa = fa[indices]
+        ifb = fb[indices]
+
+        test.assertEqual(ifa.dtype, ifb.dtype)
+        test.assertEqual(ifa.ndim, ifb.ndim)
+        test.assertEqual(ifa.shape, ifb.shape)
+        test.assertEqual(ifa.size, ifb.size)
+
+        wp.launch(fa_generic_array_kernel, dim=ifa.size, inputs=[ifa, ifb], device=device)
+
+        assert_np_equal(ifb.numpy(), 2 * ifa.numpy())
+
+
+def test_fabricarray_empty(test, device):
+    # Test whether common operations work with empty (zero-sized) indexed arrays
+    # without throwing exceptions.
+
+    def test_empty_ops(nrows, ncols, wptype, nptype):
+        # scalar, vector, or matrix
+        if ncols > 0:
+            if nrows > 0:
+                wptype = wp.types.matrix((nrows, ncols), wptype)
+            else:
+                wptype = wp.types.vector(ncols, wptype)
+            dtype_shape = wptype._shape_
+        else:
+            dtype_shape = ()
+
+        fill_value = wptype(42)
+
+        # create an empty data array
+        data = wp.empty(0, dtype=wptype, device=device)
+        iface = _create_fabric_array_interface(data, "foo", copy=True)
+        fa = wp.fabricarray(data=iface, attrib="foo")
+
+        test.assertEqual(fa.size, 0)
+        test.assertEqual(fa.shape, (0,))
+
+        # all of these methods should succeed with zero-sized arrays
+        fa.zero_()
+        fa.fill_(fill_value)
+        fb = fa.contiguous()
+
+        fb = wp.empty_like(fa)
+        fb = wp.zeros_like(fa)
+        fb = wp.full_like(fa, fill_value)
+        fb = wp.clone(fa)
+
+        wp.copy(fa, fb)
+        fa.assign(fb)
+
+        na = fa.numpy()
+        test.assertEqual(na.size, 0)
+        test.assertEqual(na.shape, (0, *dtype_shape))
+        test.assertEqual(na.dtype, nptype)
+
+        test.assertEqual(fa.list(), [])
+
+        # test indexed
+
+        # create a zero-sized array of indices
+        indices = wp.empty(0, dtype=int, device=device)
+
+        ifa = fa[indices]
+
+        test.assertEqual(ifa.size, 0)
+        test.assertEqual(ifa.shape, (0,))
+
+        # all of these methods should succeed with zero-sized arrays
+        ifa.zero_()
+        ifa.fill_(fill_value)
+        ifb = ifa.contiguous()
+
+        ifb = wp.empty_like(ifa)
+        ifb = wp.zeros_like(ifa)
+        ifb = wp.full_like(ifa, fill_value)
+        ifb = wp.clone(ifa)
+
+        wp.copy(ifa, ifb)
+        ifa.assign(ifb)
+
+        na = ifa.numpy()
+        test.assertEqual(na.size, 0)
+        test.assertEqual(na.shape, (0, *dtype_shape))
+        test.assertEqual(na.dtype, nptype)
+
+        test.assertEqual(ifa.list(), [])
+
+    # test with scalars, vectors, and matrices
+    for nptype, wptype in wp.types.np_dtype_to_warp_type.items():
+        # scalars
+        test_empty_ops(0, 0, wptype, nptype)
+
+        for ncols in [2, 3, 4, 5]:
+            # vectors
+            test_empty_ops(0, ncols, wptype, nptype)
+            # square matrices (the Fabric interface only supports square matrices right now)
+            test_empty_ops(ncols, ncols, wptype, nptype)
+
+
+def test_fabricarray_fill_scalar(test, device):
+    for nptype, wptype in wp.types.np_dtype_to_warp_type.items():
+        # create a data array
+        data = wp.zeros(100, dtype=wptype, device=device)
+        iface = _create_fabric_array_interface(data, "foo", copy=True)
+        fa = wp.fabricarray(data=iface, attrib="foo")
+
+        assert_np_equal(fa.numpy(), np.zeros(fa.shape, dtype=nptype))
+
+        # fill with int value
+        fill_value = 42
+        fa.fill_(fill_value)
+        assert_np_equal(fa.numpy(), np.full(fa.shape, fill_value, dtype=nptype))
+
+        fa.zero_()
+        assert_np_equal(fa.numpy(), np.zeros(fa.shape, dtype=nptype))
+
+        if wptype in wp.types.float_types:
+            # fill with float value
+            fill_value = 13.37
+            fa.fill_(fill_value)
+            assert_np_equal(fa.numpy(), np.full(fa.shape, fill_value, dtype=nptype))
+
+        # fill with Warp scalar value
+        fill_value = wptype(17)
+        fa.fill_(fill_value)
+        assert_np_equal(fa.numpy(), np.full(fa.shape, fill_value.value, dtype=nptype))
+
+        # reset data
+        wp.copy(fa, data)
+
+        # test indexed
+        indices1 = wp.array(data=np.arange(1, data.size, 2, dtype=np.int32), device=device)
+        ifa = fa[indices1]
+
+        # ensure that the other indices remain unchanged
+        indices2 = wp.array(data=np.arange(0, data.size, 2, dtype=np.int32), device=device)
+        ifb = fa[indices2]
+
+        assert_np_equal(ifa.numpy(), np.zeros(ifa.shape, dtype=nptype))
+        assert_np_equal(ifb.numpy(), np.zeros(ifb.shape, dtype=nptype))
+
+        # fill with int value
+        fill_value = 42
+        ifa.fill_(fill_value)
+        assert_np_equal(ifa.numpy(), np.full(ifa.shape, fill_value, dtype=nptype))
+        assert_np_equal(ifb.numpy(), np.zeros(ifb.shape, dtype=nptype))
+
+        ifa.zero_()
+        assert_np_equal(ifa.numpy(), np.zeros(ifa.shape, dtype=nptype))
+        assert_np_equal(ifb.numpy(), np.zeros(ifb.shape, dtype=nptype))
+
+        if wptype in wp.types.float_types:
+            # fill with float value
+            fill_value = 13.37
+            ifa.fill_(fill_value)
+            assert_np_equal(ifa.numpy(), np.full(ifa.shape, fill_value, dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros(ifb.shape, dtype=nptype))
+
+        # fill with Warp scalar value
+        fill_value = wptype(17)
+        ifa.fill_(fill_value)
+        assert_np_equal(ifa.numpy(), np.full(ifa.shape, fill_value.value, dtype=nptype))
+        assert_np_equal(ifb.numpy(), np.zeros(ifb.shape, dtype=nptype))
+
+
+def test_fabricarray_fill_vector(test, device):
+    # test filling a vector array with scalar or vector values (vec_type, list, or numpy array)
+
+    for nptype, wptype in wp.types.np_dtype_to_warp_type.items():
+        # vector types
+        vector_types = [
+            wp.types.vector(2, wptype),
+            wp.types.vector(3, wptype),
+            wp.types.vector(4, wptype),
+            wp.types.vector(5, wptype),
+        ]
+
+        for vec_type in vector_types:
+            vec_len = vec_type._length_
+
+            data = wp.zeros(100, dtype=vec_type, device=device)
+            iface = _create_fabric_array_interface(data, "foo", copy=True)
+            fa = wp.fabricarray(data=iface, attrib="foo")
+
+            assert_np_equal(fa.numpy(), np.zeros((*fa.shape, vec_len), dtype=nptype))
+
+            # fill with int scalar
+            fill_value = 42
+            fa.fill_(fill_value)
+            assert_np_equal(fa.numpy(), np.full((*fa.shape, vec_len), fill_value, dtype=nptype))
+
+            # test zeroing
+            fa.zero_()
+            assert_np_equal(fa.numpy(), np.zeros((*fa.shape, vec_len), dtype=nptype))
+
+            # vector values can be passed as a list, numpy array, or Warp vector instance
+            fill_list = [17, 42, 99, 101, 127][:vec_len]
+            fill_arr = np.array(fill_list, dtype=nptype)
+            fill_vec = vec_type(fill_list)
+
+            expected = np.tile(fill_arr, fa.size).reshape((*fa.shape, vec_len))
+
+            # fill with list of vector length
+            fa.fill_(fill_list)
+            assert_np_equal(fa.numpy(), expected)
+
+            # clear
+            fa.zero_()
+
+            # fill with numpy array of vector length
+            fa.fill_(fill_arr)
+            assert_np_equal(fa.numpy(), expected)
+
+            # clear
+            fa.zero_()
+
+            # fill with vec instance
+            fa.fill_(fill_vec)
+            assert_np_equal(fa.numpy(), expected)
+
+            if wptype in wp.types.float_types:
+                # fill with float scalar
+                fill_value = 13.37
+                fa.fill_(fill_value)
+                assert_np_equal(fa.numpy(), np.full((*fa.shape, vec_len), fill_value, dtype=nptype))
+
+                # fill with float list of vector length
+                fill_list = [-2.5, -1.25, 1.25, 2.5, 5.0][:vec_len]
+
+                fa.fill_(fill_list)
+
+                expected = np.tile(np.array(fill_list, dtype=nptype), fa.size).reshape((*fa.shape, vec_len))
+
+                assert_np_equal(fa.numpy(), expected)
+
+            # reset data
+            wp.copy(fa, data)
+
+            # test indexed
+            indices1 = wp.array(data=np.arange(1, data.size, 2, dtype=np.int32), device=device)
+            ifa = fa[indices1]
+
+            # ensure that the other indices remain unchanged
+            indices2 = wp.array(data=np.arange(0, data.size, 2, dtype=np.int32), device=device)
+            ifb = fa[indices2]
+
+            assert_np_equal(ifa.numpy(), np.zeros((*ifa.shape, vec_len), dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+            # fill with int scalar
+            fill_value = 42
+            ifa.fill_(fill_value)
+            assert_np_equal(ifa.numpy(), np.full((*ifa.shape, vec_len), fill_value, dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+            # test zeroing
+            ifa.zero_()
+            assert_np_equal(ifa.numpy(), np.zeros((*ifa.shape, vec_len), dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+            # vector values can be passed as a list, numpy array, or Warp vector instance
+            fill_list = [17, 42, 99, 101, 127][:vec_len]
+            fill_arr = np.array(fill_list, dtype=nptype)
+            fill_vec = vec_type(fill_list)
+
+            expected = np.tile(fill_arr, ifa.size).reshape((*ifa.shape, vec_len))
+
+            # fill with list of vector length
+            ifa.fill_(fill_list)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+            # clear
+            ifa.zero_()
+
+            # fill with numpy array of vector length
+            ifa.fill_(fill_arr)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+            # clear
+            ifa.zero_()
+
+            # fill with vec instance
+            ifa.fill_(fill_vec)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+            if wptype in wp.types.float_types:
+                # fill with float scalar
+                fill_value = 13.37
+                ifa.fill_(fill_value)
+                assert_np_equal(ifa.numpy(), np.full((*ifa.shape, vec_len), fill_value, dtype=nptype))
+                assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+                # fill with float list of vector length
+                fill_list = [-2.5, -1.25, 1.25, 2.5, 5.0][:vec_len]
+
+                ifa.fill_(fill_list)
+
+                expected = np.tile(np.array(fill_list, dtype=nptype), ifa.size).reshape((*ifa.shape, vec_len))
+
+                assert_np_equal(ifa.numpy(), expected)
+                assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, vec_len), dtype=nptype))
+
+
+def test_fabricarray_fill_matrix(test, device):
+    # test filling a matrix array with scalar or matrix values (mat_type, nested list, or 2d numpy array)
+
+    for nptype, wptype in wp.types.np_dtype_to_warp_type.items():
+        # matrix types
+        matrix_types = [
+            # square matrices only
+            wp.types.matrix((2, 2), wptype),
+            wp.types.matrix((3, 3), wptype),
+            wp.types.matrix((4, 4), wptype),
+            wp.types.matrix((5, 5), wptype),
+        ]
+
+        for mat_type in matrix_types:
+            mat_len = mat_type._length_
+            mat_shape = mat_type._shape_
+
+            data = wp.zeros(100, dtype=mat_type, device=device)
+            iface = _create_fabric_array_interface(data, "foo", copy=True)
+            fa = wp.fabricarray(data=iface, attrib="foo")
+
+            assert_np_equal(fa.numpy(), np.zeros((*fa.shape, *mat_shape), dtype=nptype))
+
+            # fill with scalar
+            fill_value = 42
+            fa.fill_(fill_value)
+            assert_np_equal(fa.numpy(), np.full((*fa.shape, *mat_shape), fill_value, dtype=nptype))
+
+            # test zeroing
+            fa.zero_()
+            assert_np_equal(fa.numpy(), np.zeros((*fa.shape, *mat_shape), dtype=nptype))
+
+            # matrix values can be passed as a 1d numpy array, 2d numpy array, flat list, nested list, or Warp matrix instance
+            if wptype != wp.bool:
+                fill_arr1 = np.arange(mat_len, dtype=nptype)
+            else:
+                fill_arr1 = np.ones(mat_len, dtype=nptype)
+
+            fill_arr2 = fill_arr1.reshape(mat_shape)
+            fill_list1 = list(fill_arr1)
+            fill_list2 = [list(row) for row in fill_arr2]
+            fill_mat = mat_type(fill_arr1)
+
+            expected = np.tile(fill_arr1, fa.size).reshape((*fa.shape, *mat_shape))
+
+            # fill with 1d numpy array
+            fa.fill_(fill_arr1)
+            assert_np_equal(fa.numpy(), expected)
+
+            # clear
+            fa.zero_()
+
+            # fill with 2d numpy array
+            fa.fill_(fill_arr2)
+            assert_np_equal(fa.numpy(), expected)
+
+            # clear
+            fa.zero_()
+
+            # fill with flat list
+            fa.fill_(fill_list1)
+            assert_np_equal(fa.numpy(), expected)
+
+            # clear
+            fa.zero_()
+
+            # fill with nested list
+            fa.fill_(fill_list2)
+            assert_np_equal(fa.numpy(), expected)
+
+            # clear
+            fa.zero_()
+
+            # fill with mat instance
+            fa.fill_(fill_mat)
+            assert_np_equal(fa.numpy(), expected)
+
+            # reset data
+            wp.copy(fa, data)
+
+            # test indexed
+            indices1 = wp.array(data=np.arange(1, data.size, 2, dtype=np.int32), device=device)
+            ifa = fa[indices1]
+
+            # ensure that the other indices remain unchanged
+            indices2 = wp.array(data=np.arange(0, data.size, 2, dtype=np.int32), device=device)
+            ifb = fa[indices2]
+
+            assert_np_equal(ifa.numpy(), np.zeros((*ifa.shape, *mat_shape), dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # fill with scalar
+            fill_value = 42
+            ifa.fill_(fill_value)
+            assert_np_equal(ifa.numpy(), np.full((*ifa.shape, *mat_shape), fill_value, dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # test zeroing
+            ifa.zero_()
+            assert_np_equal(ifa.numpy(), np.zeros((*ifa.shape, *mat_shape), dtype=nptype))
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # matrix values can be passed as a 1d numpy array, 2d numpy array, flat list, nested list, or Warp matrix instance
+            if wptype != wp.bool:
+                fill_arr1 = np.arange(mat_len, dtype=nptype)
+            else:
+                fill_arr1 = np.ones(mat_len, dtype=nptype)
+            fill_arr2 = fill_arr1.reshape(mat_shape)
+            fill_list1 = list(fill_arr1)
+            fill_list2 = [list(row) for row in fill_arr2]
+            fill_mat = mat_type(fill_arr1)
+
+            expected = np.tile(fill_arr1, ifa.size).reshape((*ifa.shape, *mat_shape))
+
+            # fill with 1d numpy array
+            ifa.fill_(fill_arr1)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # clear
+            ifa.zero_()
+
+            # fill with 2d numpy array
+            ifa.fill_(fill_arr2)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # clear
+            ifa.zero_()
+
+            # fill with flat list
+            ifa.fill_(fill_list1)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # clear
+            ifa.zero_()
+
+            # fill with nested list
+            ifa.fill_(fill_list2)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+            # clear
+            ifa.zero_()
+
+            # fill with mat instance
+            ifa.fill_(fill_mat)
+            assert_np_equal(ifa.numpy(), expected)
+            assert_np_equal(ifb.numpy(), np.zeros((*ifb.shape, *mat_shape), dtype=nptype))
+
+
+@wp.kernel
+def fa_generic_sums_kernel(a: wp.fabricarrayarray(dtype=Any), sums: wp.array(dtype=Any)):
+    i = wp.tid()
+
+    # get sub-array using wp::view()
+    row = a[i]
+
+    # get sub-array length
+    count = row.shape[0]
+
+    # compute sub-array sum
+    for j in range(count):
+        sums[i] = sums[i] + row[j]
+
+
+@wp.kernel
+def fa_generic_sums_kernel_indexed(a: wp.indexedfabricarrayarray(dtype=Any), sums: wp.array(dtype=Any)):
+    i = wp.tid()
+
+    # get sub-array using wp::view()
+    row = a[i]
+
+    # get sub-array length
+    count = row.shape[0]
+
+    # compute sub-array sum
+    for j in range(count):
+        sums[i] = sums[i] + row[j]
+
+
+def test_fabricarrayarray(test, device):
+    for T in _fabric_types:
+        if hasattr(T, "_wp_scalar_type_"):
+            nptype = wp.types.warp_type_to_np_dtype[T._wp_scalar_type_]
+        else:
+            nptype = wp.types.warp_type_to_np_dtype[T]
+
+        n = 100
+
+        min_length = 1
+        max_length = 10
+        arrays = []
+        expected_sums = []
+        expected_sums_indexed = []
+
+        # generate data arrays
+        length = min_length
+        for i in range(n):
+            if length > max_length:
+                length = min_length
+
+            na = np.arange(1, length + 1, dtype=nptype)
+
+            arrays.append(wp.array(data=na, device=device))
+            expected_sums.append(na.sum())
+
+            # every second index
+            if i % 2 == 0:
+                expected_sums_indexed.append(na.sum())
+
+            length += 1
+
+        data_iface = _create_fabric_array_array_interface(arrays, "foo")
+        fa = wp.fabricarrayarray(data=data_iface, attrib="foo")
+
+        sums = wp.zeros_like(fa)
+
+        test.assertEqual(fa.dtype, sums.dtype)
+        test.assertEqual(fa.ndim, 2)
+        test.assertEqual(sums.ndim, 1)
+        test.assertEqual(fa.shape, sums.shape)
+        test.assertEqual(fa.size, sums.size)
+
+        wp.launch(fa_generic_sums_kernel, dim=fa.size, inputs=[fa, sums], device=device)
+
+        assert_np_equal(sums.numpy(), np.array(expected_sums, dtype=nptype))
+
+        # test indexed
+        indices = wp.array(data=np.arange(0, n, 2, dtype=np.int32), device=device)
+        ifa = fa[indices]
+
+        sums = wp.zeros_like(ifa)
+
+        test.assertEqual(ifa.dtype, sums.dtype)
+        test.assertEqual(ifa.ndim, 2)
+        test.assertEqual(sums.ndim, 1)
+        test.assertEqual(ifa.shape, sums.shape)
+        test.assertEqual(ifa.size, sums.size)
+
+        wp.launch(fa_generic_sums_kernel_indexed, dim=ifa.size, inputs=[ifa, sums], device=device)
+
+        assert_np_equal(sums.numpy(), np.array(expected_sums_indexed, dtype=nptype))
+
+
+# explicit kernel overloads
+for T in _fabric_types:
+    wp.overload(fa_generic_dtype_kernel, [wp.fabricarray(dtype=T), wp.fabricarray(dtype=T)])
+    wp.overload(fa_generic_dtype_kernel_indexed, [wp.indexedfabricarray(dtype=T), wp.indexedfabricarray(dtype=T)])
+
+    wp.overload(fa_generic_array_kernel, [wp.fabricarray(dtype=T), wp.fabricarray(dtype=T)])
+    wp.overload(fa_generic_array_kernel, [wp.indexedfabricarray(dtype=T), wp.indexedfabricarray(dtype=T)])
+
+    wp.overload(fa_generic_sums_kernel, [wp.fabricarrayarray(dtype=T), wp.array(dtype=T)])
+    wp.overload(fa_generic_sums_kernel_indexed, [wp.indexedfabricarrayarray(dtype=T), wp.array(dtype=T)])
+
+
+devices = get_test_devices()
+
+
+class TestFabricArray(unittest.TestCase):
+    pass
+
+
+# fabric arrays
+add_function_test(TestFabricArray, "test_fabricarray_kernel", test_fabricarray_kernel, devices=devices)
+add_function_test(TestFabricArray, "test_fabricarray_empty", test_fabricarray_empty, devices=devices)
+add_function_test(TestFabricArray, "test_fabricarray_generic_dtype", test_fabricarray_generic_dtype, devices=devices)
+add_function_test(TestFabricArray, "test_fabricarray_generic_array", test_fabricarray_generic_array, devices=devices)
+add_function_test(TestFabricArray, "test_fabricarray_fill_scalar", test_fabricarray_fill_scalar, devices=devices)
+add_function_test(TestFabricArray, "test_fabricarray_fill_vector", test_fabricarray_fill_vector, devices=devices)
+add_function_test(TestFabricArray, "test_fabricarray_fill_matrix", test_fabricarray_fill_matrix, devices=devices)
+
+# fabric arrays of arrays
+add_function_test(TestFabricArray, "test_fabricarrayarray", test_fabricarrayarray, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)