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

warp/tests/test_volume.py

@@ -5,11 +5,13 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-import warp as wp
-from warp.tests.test_base import *
+import unittest
 
 import numpy as np
 
+import warp as wp
+from warp.tests.unittest_utils import *
+
 wp.init()
 
 
@@ -62,6 +64,29 @@ def test_volume_sample_linear_f(volume: wp.uint64, points: wp.array(dtype=wp.vec
     expect_near(wp.volume_sample_f(volume, p, wp.Volume.LINEAR), expected, 2.0e-4)
 
 
+@wp.kernel
+def test_volume_sample_grad_linear_f(volume: wp.uint64, points: wp.array(dtype=wp.vec3)):
+    tid = wp.tid()
+
+    p = points[tid]
+
+    expected_val = p[0] * p[1] * p[2]
+    expected_gx = p[1] * p[2]
+    expected_gy = p[0] * p[2]
+    expected_gz = p[0] * p[1]
+
+    if abs(p[0]) > 10.0 or abs(p[1]) > 10.0 or abs(p[2]) > 10.0:
+        return  # not testing against background values
+
+    grad = wp.vec3(0.0, 0.0, 0.0)
+    val = wp.volume_sample_grad_f(volume, p, wp.Volume.LINEAR, grad)
+
+    expect_near(val, expected_val, 2.0e-4)
+    expect_near(grad[0], expected_gx, 2.0e-4)
+    expect_near(grad[1], expected_gy, 2.0e-4)
+    expect_near(grad[2], expected_gz, 2.0e-4)
+
+
 @wp.kernel
 def test_volume_sample_local_f_linear_values(
     volume: wp.uint64, points: wp.array(dtype=wp.vec3), values: wp.array(dtype=wp.float32)
@@ -71,6 +96,25 @@ def test_volume_sample_local_f_linear_values(
     values[tid] = wp.volume_sample_f(volume, p, wp.Volume.LINEAR)
 
 
+@wp.kernel
+def test_volume_sample_grad_local_f_linear_values(
+    volume: wp.uint64, points: wp.array(dtype=wp.vec3), values: wp.array(dtype=wp.float32), case_num: int
+):
+    tid = wp.tid()
+    p = points[tid]
+
+    grad = wp.vec3(0.0, 0.0, 0.0)
+    val = wp.volume_sample_grad_f(volume, p, wp.Volume.LINEAR, grad)
+
+    if case_num == 1:
+        val = grad[0]
+    elif case_num == 2:
+        val = grad[1]
+    elif case_num == 3:
+        val = grad[2]
+    values[tid] = val
+
+
 @wp.kernel
 def test_volume_sample_world_f_linear_values(
     volume: wp.uint64, points: wp.array(dtype=wp.vec3), values: wp.array(dtype=wp.float32)
@@ -81,6 +125,27 @@ def test_volume_sample_world_f_linear_values(
     values[tid] = wp.volume_sample_f(volume, p, wp.Volume.LINEAR)
 
 
+@wp.kernel
+def test_volume_sample_grad_world_f_linear_values(
+    volume: wp.uint64, points: wp.array(dtype=wp.vec3), values: wp.array(dtype=wp.float32), case_num: int
+):
+    tid = wp.tid()
+    q = points[tid]
+    p = wp.volume_world_to_index(volume, q)
+
+    grad = wp.vec3(0.0, 0.0, 0.0)
+    val = wp.volume_sample_grad_f(volume, p, wp.Volume.LINEAR, grad)
+
+    if case_num == 1:
+        val = grad[0]
+    elif case_num == 2:
+        val = grad[1]
+    elif case_num == 3:
+        val = grad[2]
+
+    values[tid] = val
+
+
 # vec3f volume tests
 @wp.kernel
 def test_volume_lookup_v(volume: wp.uint64, points: wp.array(dtype=wp.vec3)):
@@ -265,308 +330,407 @@ def test_volume_store_i(volume: wp.uint64, points: wp.array(dtype=wp.vec3), valu
     values[tid] = wp.volume_lookup_i(volume, i, j, k)
 
 
-def register(parent):
-    devices = get_test_devices()
-    rng = np.random.default_rng(101215)
-
-    # Note about the test grids:
-    # test_grid and test_int32_grid
-    #   active region: [-10,10]^3
-    #   values: v[i,j,k] = i * j * k
-    #   voxel size: 0.25
-    #
-    # test_vec_grid
-    #   active region: [-10,10]^3
-    #   values: v[i,j,k] = (i + 2*j + 3*k, 4*i + 5*j + 6*k, 7*i + 8*j + 9*k)
-    #   voxel size: 0.25
-    #
-    # torus
-    #   index to world transformation:
-    #      [0.1, 0, 0, 0]
-    #      [0, 0, 0.1, 0]
-    #      [0, 0.1, 0, 0]
-    #      [1, 2, 3, 1]
-    #   (-90 degrees rotation along X)
-    #   voxel size: 0.1
-    volume_paths = {
-        "float": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_grid.nvdb")),
-        "int32": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_int32_grid.nvdb")),
-        "vec3f": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_vec_grid.nvdb")),
-        "torus": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/torus.nvdb")),
-        "float_write": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_grid.nvdb")),
-    }
-
-    test_volume_tiles = (
-        np.array([[i, j, k] for i in range(-2, 2) for j in range(-2, 2) for k in range(-2, 2)], dtype=np.int32) * 8
-    )
+devices = get_test_devices()
+rng = np.random.default_rng(101215)
+
+# Note about the test grids:
+# test_grid and test_int32_grid
+#   active region: [-10,10]^3
+#   values: v[i,j,k] = i * j * k
+#   voxel size: 0.25
+#
+# test_vec_grid
+#   active region: [-10,10]^3
+#   values: v[i,j,k] = (i + 2*j + 3*k, 4*i + 5*j + 6*k, 7*i + 8*j + 9*k)
+#   voxel size: 0.25
+#
+# torus
+#   index to world transformation:
+#      [0.1, 0, 0, 0]
+#      [0, 0, 0.1, 0]
+#      [0, 0.1, 0, 0]
+#      [1, 2, 3, 1]
+#   (-90 degrees rotation along X)
+#   voxel size: 0.1
+volume_paths = {
+    "float": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_grid.nvdb")),
+    "int32": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_int32_grid.nvdb")),
+    "vec3f": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_vec_grid.nvdb")),
+    "torus": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/torus.nvdb")),
+    "float_write": os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/test_grid.nvdb")),
+}
+
+test_volume_tiles = (
+    np.array([[i, j, k] for i in range(-2, 2) for j in range(-2, 2) for k in range(-2, 2)], dtype=np.int32) * 8
+)
+
+volumes = {}
+for value_type, path in volume_paths.items():
+    volumes[value_type] = {}
+    volume_data = open(path, "rb").read()
+    for device in devices:
+        try:
+            volume = wp.Volume.load_from_nvdb(volume_data, device)
+        except RuntimeError as e:
+            raise RuntimeError(f'Failed to load volume from "{path}" to {device} memory:\n{e}')
+
+        volumes[value_type][device.alias] = volume
+
+axis = np.linspace(-1, 1, 3)
+point_grid = np.array([[x, y, z] for x in axis for y in axis for z in axis], dtype=np.float32)
+
+
+def test_volume_sample_linear_f_gradient(test, device):
+    points = rng.uniform(-10.0, 10.0, size=(100, 3))
+    values = wp.array(np.zeros(1), dtype=wp.float32, device=device, requires_grad=True)
+    for test_case in points:
+        uvws = wp.array(test_case, dtype=wp.vec3, device=device, requires_grad=True)
+        xyzs = wp.array(test_case * 0.25, dtype=wp.vec3, device=device, requires_grad=True)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                test_volume_sample_local_f_linear_values,
+                dim=1,
+                inputs=[volumes["float"][device.alias].id, uvws, values],
+                device=device,
+            )
+        tape.backward(values)
+
+        x, y, z = test_case
+        grad_expected = np.array([y * z, x * z, x * y])
+        grad_computed = tape.gradients[uvws].numpy()[0]
+        np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                test_volume_sample_world_f_linear_values,
+                dim=1,
+                inputs=[volumes["float"][device.alias].id, xyzs, values],
+                device=device,
+            )
+        tape.backward(values)
 
-    volumes = {}
-    points = {}
-    points_jittered = {}
-    for value_type, path in volume_paths.items():
-        volumes[value_type] = {}
-        volume_data = open(path, "rb").read()
-        for device in devices:
-            try:
-                volume = wp.Volume.load_from_nvdb(volume_data, device)
-            except RuntimeError as e:
-                raise RuntimeError(f'Failed to load volume from "{path}" to {device} memory:\n{e}')
-
-            volumes[value_type][device.alias] = volume
-
-    axis = np.linspace(-1, 1, 3)
-    point_grid = np.array([[x, y, z] for x in axis for y in axis for z in axis], dtype=np.float32)
-
-    class TestVolumes(parent):
-        def test_volume_sample_linear_f_gradient(self):
-            for device in devices:
-                points = rng.uniform(-10.0, 10.0, size=(100, 3))
-                values = wp.array(np.zeros(1), dtype=wp.float32, device=device, requires_grad=True)
-                for case in points:
-                    uvws = wp.array(case, dtype=wp.vec3, device=device, requires_grad=True)
-                    xyzs = wp.array(case * 0.25, dtype=wp.vec3, device=device, requires_grad=True)
-
-                    tape = wp.Tape()
-                    with tape:
-                        wp.launch(
-                            test_volume_sample_local_f_linear_values,
-                            dim=1,
-                            inputs=[volumes["float"][device.alias].id, uvws, values],
-                            device=device,
-                        )
-                    tape.backward(values)
-
-                    x, y, z = case
-                    grad_expected = np.array([y * z, x * z, x * y])
-                    grad_computed = tape.gradients[uvws].numpy()[0]
-                    np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
-
-                    tape = wp.Tape()
-                    with tape:
-                        wp.launch(
-                            test_volume_sample_world_f_linear_values,
-                            dim=1,
-                            inputs=[volumes["float"][device.alias].id, xyzs, values],
-                            device=device,
-                        )
-                    tape.backward(values)
-
-                    x, y, z = case
-                    grad_expected = np.array([y * z, x * z, x * y]) / 0.25
-                    grad_computed = tape.gradients[xyzs].numpy()[0]
-                    np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
-
-        def test_volume_sample_linear_v_gradient(self):
-            for device in devices:
-                points = rng.uniform(-10.0, 10.0, size=(100, 3))
-                values = wp.zeros(1, dtype=wp.float32, device=device, requires_grad=True)
-                for case in points:
-                    uvws = wp.array(case, dtype=wp.vec3, device=device, requires_grad=True)
-                    xyzs = wp.array(case * 0.25, dtype=wp.vec3, device=device, requires_grad=True)
-
-                    tape = wp.Tape()
-                    with tape:
-                        wp.launch(
-                            test_volume_sample_local_v_linear_values,
-                            dim=1,
-                            inputs=[volumes["vec3f"][device.alias].id, uvws, values],
-                            device=device,
-                        )
-                    tape.backward(values)
-
-                    grad_expected = np.array([6.0, 15.0, 24.0])
-                    grad_computed = tape.gradients[uvws].numpy()[0]
-                    np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
-
-                    tape = wp.Tape()
-                    with tape:
-                        wp.launch(
-                            test_volume_sample_world_v_linear_values,
-                            dim=1,
-                            inputs=[volumes["vec3f"][device.alias].id, xyzs, values],
-                            device=device,
-                        )
-                    tape.backward(values)
-
-                    grad_expected = np.array([6.0, 15.0, 24.0]) / 0.25
-                    grad_computed = tape.gradients[xyzs].numpy()[0]
-                    np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
-
-        def test_volume_transform_gradient(self):
-            for device in devices:
-                values = wp.zeros(1, dtype=wp.float32, device=device, requires_grad=True)
-                grad_values = wp.zeros(1, dtype=wp.vec3, device=device)
-                points = rng.uniform(-10.0, 10.0, size=(10, 3))
-                for case in points:
-                    points = wp.array(case, dtype=wp.vec3, device=device, requires_grad=True)
-                    tape = wp.Tape()
-                    with tape:
-                        wp.launch(
-                            test_volume_index_to_world,
-                            dim=1,
-                            inputs=[volumes["torus"][device.alias].id, points, values, grad_values],
-                            device=device,
-                        )
-                    tape.backward(values)
-
-                    grad_computed = tape.gradients[points].numpy()
-                    grad_expected = grad_values.numpy()
-                    np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
-
-                    grad_computed = tape.gradients[points].numpy()
-                    grad_expected = grad_values.numpy()
-                    np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
-
-        def test_volume_store(self):
-            values_ref = np.array([x + 100 * y + 10000 * z for x, y, z in point_grid])
-            for device in devices:
-                points = wp.array(point_grid, dtype=wp.vec3, device=device)
-                values = wp.empty(len(point_grid), dtype=wp.float32, device=device)
-                wp.launch(
-                    test_volume_store_f,
-                    dim=len(point_grid),
-                    inputs=[volumes["float_write"][device.alias].id, points, values],
-                    device=device,
-                )
+        x, y, z = test_case
+        grad_expected = np.array([y * z, x * z, x * y]) / 0.25
+        grad_computed = tape.gradients[xyzs].numpy()[0]
+        np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
 
-                values_res = values.numpy()
-                np.testing.assert_equal(values_res, values_ref)
 
-        def test_volume_allocation_f(self):
-            bg_value = -123.0
-            points_np = np.append(point_grid, [[8096, 8096, 8096]], axis=0)
-            values_ref = np.append(np.array([x + 100 * y + 10000 * z for x, y, z in point_grid]), bg_value)
-            for device in devices:
-                if device.is_cpu:
-                    continue
+def test_volume_sample_grad_linear_f_gradient(test, device):
+    points = rng.uniform(-10.0, 10.0, size=(100, 3))
+    values = wp.array(np.zeros(1), dtype=wp.float32, device=device, requires_grad=True)
+    for test_case in points:
+        uvws = wp.array(test_case, dtype=wp.vec3, device=device, requires_grad=True)
+        xyzs = wp.array(test_case * 0.25, dtype=wp.vec3, device=device, requires_grad=True)
 
-                volume = wp.Volume.allocate(
-                    min=[-11, -11, -11], max=[11, 11, 11], voxel_size=0.1, bg_value=bg_value, device=device
+        for case_num in range(4):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(
+                    test_volume_sample_grad_local_f_linear_values,
+                    dim=1,
+                    inputs=[volumes["float"][device.alias].id, uvws, values, case_num],
+                    device=device,
                 )
-                points = wp.array(points_np, dtype=wp.vec3, device=device)
-                values = wp.empty(len(points_np), dtype=wp.float32, device=device)
-                wp.launch(test_volume_store_f, dim=len(points_np), inputs=[volume.id, points, values], device=device)
-
-                values_res = values.numpy()
-                np.testing.assert_equal(values_res, values_ref)
-
-        def test_volume_allocation_v(self):
-            bg_value = (-1, 2.0, -3)
-            points_np = np.append(point_grid, [[8096, 8096, 8096]], axis=0)
-            values_ref = np.append(point_grid, [bg_value], axis=0)
-            for device in devices:
-                if device.is_cpu:
-                    continue
-
-                volume = wp.Volume.allocate(
-                    min=[-11, -11, -11], max=[11, 11, 11], voxel_size=0.1, bg_value=bg_value, device=device
+            tape.backward(values)
+
+            x, y, z = test_case
+            grad_computed = tape.gradients[uvws].numpy()[0]
+            if case_num == 0:
+                grad_expected = np.array([y * z, x * z, x * y])
+            elif case_num == 1:
+                grad_expected = np.array([0.0, z, y])
+            elif case_num == 2:
+                grad_expected = np.array([z, 0.0, x])
+            elif case_num == 3:
+                grad_expected = np.array([y, x, 0.0])
+
+            np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+            tape.zero()
+
+        for case_num in range(4):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(
+                    test_volume_sample_grad_world_f_linear_values,
+                    dim=1,
+                    inputs=[volumes["float"][device.alias].id, xyzs, values, case_num],
+                    device=device,
                 )
-                points = wp.array(points_np, dtype=wp.vec3, device=device)
-                values = wp.empty(len(points_np), dtype=wp.vec3, device=device)
-                wp.launch(test_volume_store_v, dim=len(points_np), inputs=[volume.id, points, values], device=device)
-
-                values_res = values.numpy()
-                np.testing.assert_equal(values_res, values_ref)
-
-        def test_volume_allocation_i(self):
-            bg_value = -123
-            points_np = np.append(point_grid, [[8096, 8096, 8096]], axis=0)
-            values_ref = np.append(
-                np.array([x + 100 * y + 10000 * z for x, y, z in point_grid], dtype=np.int32), bg_value
+            tape.backward(values)
+
+            x, y, z = test_case
+            grad_computed = tape.gradients[xyzs].numpy()[0]
+            if case_num == 0:
+                grad_expected = np.array([y * z, x * z, x * y]) / 0.25
+            elif case_num == 1:
+                grad_expected = np.array([0.0, z, y]) / 0.25
+            elif case_num == 2:
+                grad_expected = np.array([z, 0.0, x]) / 0.25
+            elif case_num == 3:
+                grad_expected = np.array([y, x, 0.0]) / 0.25
+
+            np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+            tape.zero()
+
+
+def test_volume_sample_linear_v_gradient(test, device):
+    points = rng.uniform(-10.0, 10.0, size=(100, 3))
+    values = wp.zeros(1, dtype=wp.float32, device=device, requires_grad=True)
+    for test_case in points:
+        uvws = wp.array(test_case, dtype=wp.vec3, device=device, requires_grad=True)
+        xyzs = wp.array(test_case * 0.25, dtype=wp.vec3, device=device, requires_grad=True)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                test_volume_sample_local_v_linear_values,
+                dim=1,
+                inputs=[volumes["vec3f"][device.alias].id, uvws, values],
+                device=device,
             )
-            for device in devices:
-                if device.is_cpu:
-                    continue
-
-                volume = wp.Volume.allocate(
-                    min=[-11, -11, -11], max=[11, 11, 11], voxel_size=0.1, bg_value=bg_value, device=device
-                )
-                points = wp.array(points_np, dtype=wp.vec3, device=device)
-                values = wp.empty(len(points_np), dtype=wp.int32, device=device)
-                wp.launch(test_volume_store_i, dim=len(points_np), inputs=[volume.id, points, values], device=device)
-
-                values_res = values.numpy()
-                np.testing.assert_equal(values_res, values_ref)
+        tape.backward(values)
+
+        grad_expected = np.array([6.0, 15.0, 24.0])
+        grad_computed = tape.gradients[uvws].numpy()[0]
+        np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                test_volume_sample_world_v_linear_values,
+                dim=1,
+                inputs=[volumes["vec3f"][device.alias].id, xyzs, values],
+                device=device,
+            )
+        tape.backward(values)
+
+        grad_expected = np.array([6.0, 15.0, 24.0]) / 0.25
+        grad_computed = tape.gradients[xyzs].numpy()[0]
+        np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+
+
+def test_volume_transform_gradient(test, device):
+    values = wp.zeros(1, dtype=wp.float32, device=device, requires_grad=True)
+    grad_values = wp.zeros(1, dtype=wp.vec3, device=device)
+    test_points = rng.uniform(-10.0, 10.0, size=(10, 3))
+    for test_case in test_points:
+        points = wp.array(test_case, dtype=wp.vec3, device=device, requires_grad=True)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                test_volume_index_to_world,
+                dim=1,
+                inputs=[volumes["torus"][device.alias].id, points, values, grad_values],
+                device=device,
+            )
+        tape.backward(values)
+
+        grad_computed = tape.gradients[points].numpy()
+        grad_expected = grad_values.numpy()
+        np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+
+        grad_computed = tape.gradients[points].numpy()
+        grad_expected = grad_values.numpy()
+        np.testing.assert_allclose(grad_computed, grad_expected, rtol=1e-4)
+
+
+def test_volume_store(test, device):
+    values_ref = np.array([x + 100 * y + 10000 * z for x, y, z in point_grid])
+    points = wp.array(point_grid, dtype=wp.vec3, device=device)
+    values = wp.empty(len(point_grid), dtype=wp.float32, device=device)
+    wp.launch(
+        test_volume_store_f,
+        dim=len(point_grid),
+        inputs=[volumes["float_write"][device.alias].id, points, values],
+        device=device,
+    )
 
-        def test_volume_introspection(self):
-            for volume_names in ("float", "vec3f"):
-                for device in devices:
-                    volume = volumes[volume_names][device.alias]
-                    tiles_actual = volume.get_tiles().numpy()
-                    tiles_sorted = tiles_actual[np.lexsort(tiles_actual.T[::-1])]
-                    voxel_size = np.array(volume.get_voxel_size())
+    values_res = values.numpy()
+    np.testing.assert_equal(values_res, values_ref)
+
+
+def test_volume_allocation_f(test, device):
+    bg_value = -123.0
+    points_np = np.append(point_grid, [[8096, 8096, 8096]], axis=0)
+    values_ref = np.append(np.array([x + 100 * y + 10000 * z for x, y, z in point_grid]), bg_value)
+
+    volume = wp.Volume.allocate(min=[-11, -11, -11], max=[11, 11, 11], voxel_size=0.1, bg_value=bg_value, device=device)
+    points = wp.array(points_np, dtype=wp.vec3, device=device)
+    values = wp.empty(len(points_np), dtype=wp.float32, device=device)
+    wp.launch(test_volume_store_f, dim=len(points_np), inputs=[volume.id, points, values], device=device)
+
+    values_res = values.numpy()
+    np.testing.assert_equal(values_res, values_ref)
+
+
+def test_volume_allocation_v(test, device):
+    bg_value = (-1, 2.0, -3)
+    points_np = np.append(point_grid, [[8096, 8096, 8096]], axis=0)
+    values_ref = np.append(point_grid, [bg_value], axis=0)
+
+    volume = wp.Volume.allocate(min=[-11, -11, -11], max=[11, 11, 11], voxel_size=0.1, bg_value=bg_value, device=device)
+    points = wp.array(points_np, dtype=wp.vec3, device=device)
+    values = wp.empty(len(points_np), dtype=wp.vec3, device=device)
+    wp.launch(test_volume_store_v, dim=len(points_np), inputs=[volume.id, points, values], device=device)
+
+    values_res = values.numpy()
+    np.testing.assert_equal(values_res, values_ref)
+
+
+def test_volume_allocation_i(test, device):
+    bg_value = -123
+    points_np = np.append(point_grid, [[8096, 8096, 8096]], axis=0)
+    values_ref = np.append(np.array([x + 100 * y + 10000 * z for x, y, z in point_grid], dtype=np.int32), bg_value)
+
+    volume = wp.Volume.allocate(min=[-11, -11, -11], max=[11, 11, 11], voxel_size=0.1, bg_value=bg_value, device=device)
+    points = wp.array(points_np, dtype=wp.vec3, device=device)
+    values = wp.empty(len(points_np), dtype=wp.int32, device=device)
+    wp.launch(test_volume_store_i, dim=len(points_np), inputs=[volume.id, points, values], device=device)
+
+    values_res = values.numpy()
+    np.testing.assert_equal(values_res, values_ref)
+
+
+def test_volume_introspection(test, device):
+    for volume_names in ("float", "vec3f"):
+        with test.subTest(volume_names=volume_names):
+            volume = volumes[volume_names][device.alias]
+            tiles_actual = volume.get_tiles().numpy()
+            tiles_sorted = tiles_actual[np.lexsort(tiles_actual.T[::-1])]
+            voxel_size = np.array(volume.get_voxel_size())
+
+            np.testing.assert_equal(test_volume_tiles, tiles_sorted)
+            np.testing.assert_equal([0.25] * 3, voxel_size)
+
+
+def test_volume_from_numpy(test, device):
+    # Volume.allocate_from_tiles() is only available with CUDA
+    mins = np.array([-3.0, -3.0, -3.0])
+    voxel_size = 0.2
+    maxs = np.array([3.0, 3.0, 3.0])
+    nums = np.ceil((maxs - mins) / (voxel_size)).astype(dtype=int)
+    center = np.array([0.0, 0.0, 0.0])
+    rad = 2.5
+    sphere_sdf_np = np.zeros(tuple(nums))
+    for x in range(nums[0]):
+        for y in range(nums[1]):
+            for z in range(nums[2]):
+                pos = mins + voxel_size * np.array([x, y, z])
+                dis = np.linalg.norm(pos - center)
+                sphere_sdf_np[x, y, z] = dis - rad
+    sphere_vdb = wp.Volume.load_from_numpy(sphere_sdf_np, mins, voxel_size, rad + 3.0 * voxel_size, device=device)
+
+    test.assertNotEqual(sphere_vdb.id, 0)
+
+    sphere_vdb_array = sphere_vdb.array()
+    test.assertEqual(sphere_vdb_array.dtype, wp.uint8)
+    test.assertFalse(sphere_vdb_array.owner)
+
+
+class TestVolume(unittest.TestCase):
+    pass
+
+
+add_function_test(
+    TestVolume, "test_volume_sample_linear_f_gradient", test_volume_sample_linear_f_gradient, devices=devices
+)
+add_function_test(
+    TestVolume, "test_volume_sample_grad_linear_f_gradient", test_volume_sample_grad_linear_f_gradient, devices=devices
+)
+add_function_test(
+    TestVolume, "test_volume_sample_linear_v_gradient", test_volume_sample_linear_v_gradient, devices=devices
+)
+add_function_test(TestVolume, "test_volume_transform_gradient", test_volume_transform_gradient, devices=devices)
+add_function_test(TestVolume, "test_volume_store", test_volume_store, devices=devices)
+add_function_test(
+    TestVolume, "test_volume_allocation_f", test_volume_allocation_f, devices=get_unique_cuda_test_devices()
+)
+add_function_test(
+    TestVolume, "test_volume_allocation_v", test_volume_allocation_v, devices=get_unique_cuda_test_devices()
+)
+add_function_test(
+    TestVolume, "test_volume_allocation_i", test_volume_allocation_i, devices=get_unique_cuda_test_devices()
+)
+add_function_test(TestVolume, "test_volume_introspection", test_volume_introspection, devices=devices)
+add_function_test(TestVolume, "test_volume_from_numpy", test_volume_from_numpy, devices=get_unique_cuda_test_devices())
+
+points = {}
+points_jittered = {}
+for device in devices:
+    points_jittered_np = point_grid + rng.uniform(-0.5, 0.5, size=point_grid.shape)
+    points[device.alias] = wp.array(point_grid, dtype=wp.vec3, device=device)
+    points_jittered[device.alias] = wp.array(points_jittered_np, dtype=wp.vec3, device=device)
+
+    add_kernel_test(
+        TestVolume,
+        test_volume_lookup_f,
+        dim=len(point_grid),
+        inputs=[volumes["float"][device.alias].id, points[device.alias]],
+        devices=[device],
+    )
+    add_kernel_test(
+        TestVolume,
+        test_volume_sample_closest_f,
+        dim=len(point_grid),
+        inputs=[volumes["float"][device.alias].id, points_jittered[device.alias]],
+        devices=[device.alias],
+    )
+    add_kernel_test(
+        TestVolume,
+        test_volume_sample_linear_f,
+        dim=len(point_grid),
+        inputs=[volumes["float"][device.alias].id, points_jittered[device.alias]],
+        devices=[device.alias],
+    )
+    add_kernel_test(
+        TestVolume,
+        test_volume_sample_grad_linear_f,
+        dim=len(point_grid),
+        inputs=[volumes["float"][device.alias].id, points_jittered[device.alias]],
+        devices=[device.alias],
+    )
 
-                    np.testing.assert_equal(test_volume_tiles, tiles_sorted)
-                    np.testing.assert_equal([0.25] * 3, voxel_size)
+    add_kernel_test(
+        TestVolume,
+        test_volume_lookup_v,
+        dim=len(point_grid),
+        inputs=[volumes["vec3f"][device.alias].id, points[device.alias]],
+        devices=[device.alias],
+    )
+    add_kernel_test(
+        TestVolume,
+        test_volume_sample_closest_v,
+        dim=len(point_grid),
+        inputs=[volumes["vec3f"][device.alias].id, points_jittered[device.alias]],
+        devices=[device.alias],
+    )
+    add_kernel_test(
+        TestVolume,
+        test_volume_sample_linear_v,
+        dim=len(point_grid),
+        inputs=[volumes["vec3f"][device.alias].id, points_jittered[device.alias]],
+        devices=[device.alias],
+    )
 
-    for device in devices:
-        points_jittered_np = point_grid + rng.uniform(-0.5, 0.5, size=point_grid.shape)
-        points[device.alias] = wp.array(point_grid, dtype=wp.vec3, device=device)
-        points_jittered[device.alias] = wp.array(points_jittered_np, dtype=wp.vec3, device=device)
-
-        add_kernel_test(
-            TestVolumes,
-            test_volume_lookup_f,
-            dim=len(point_grid),
-            inputs=[volumes["float"][device.alias].id, points[device.alias]],
-            devices=[device],
-        )
-        add_kernel_test(
-            TestVolumes,
-            test_volume_sample_closest_f,
-            dim=len(point_grid),
-            inputs=[volumes["float"][device.alias].id, points_jittered[device.alias]],
-            devices=[device.alias],
-        )
-        add_kernel_test(
-            TestVolumes,
-            test_volume_sample_linear_f,
-            dim=len(point_grid),
-            inputs=[volumes["float"][device.alias].id, points_jittered[device.alias]],
-            devices=[device.alias],
-        )
-
-        add_kernel_test(
-            TestVolumes,
-            test_volume_lookup_v,
-            dim=len(point_grid),
-            inputs=[volumes["vec3f"][device.alias].id, points[device.alias]],
-            devices=[device.alias],
-        )
-        add_kernel_test(
-            TestVolumes,
-            test_volume_sample_closest_v,
-            dim=len(point_grid),
-            inputs=[volumes["vec3f"][device.alias].id, points_jittered[device.alias]],
-            devices=[device.alias],
-        )
-        add_kernel_test(
-            TestVolumes,
-            test_volume_sample_linear_v,
-            dim=len(point_grid),
-            inputs=[volumes["vec3f"][device.alias].id, points_jittered[device.alias]],
-            devices=[device.alias],
-        )
-
-        add_kernel_test(
-            TestVolumes,
-            test_volume_lookup_i,
-            dim=len(point_grid),
-            inputs=[volumes["int32"][device.alias].id, points[device.alias]],
-            devices=[device.alias],
-        )
-        add_kernel_test(
-            TestVolumes,
-            test_volume_sample_i,
-            dim=len(point_grid),
-            inputs=[volumes["int32"][device.alias].id, points_jittered[device.alias]],
-            devices=[device.alias],
-        )
-
-    return TestVolumes
+    add_kernel_test(
+        TestVolume,
+        test_volume_lookup_i,
+        dim=len(point_grid),
+        inputs=[volumes["int32"][device.alias].id, points[device.alias]],
+        devices=[device.alias],
+    )
+    add_kernel_test(
+        TestVolume,
+        test_volume_sample_i,
+        dim=len(point_grid),
+        inputs=[volumes["int32"][device.alias].id, points_jittered[device.alias]],
+        devices=[device.alias],
+    )
 
 
 if __name__ == "__main__":
-    wp.force_load()
-    c = register(unittest.TestCase)
+    wp.build.clear_kernel_cache()
     unittest.main(verbosity=2)