warp-lang 1.0.1__py3-none-manylinux2014_aarch64.whl → 1.1.0__py3-none-manylinux2014_aarch64.whl

warp/tests/test_utils.py

@@ -1,499 +1,490 @@
-# 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 contextlib
-import inspect
-import io
-import unittest
-
-from warp.tests.unittest_utils import *
-
-wp.init()
-
-
-def test_array_scan(test, device):
-    rng = np.random.default_rng(123)
-
-    for dtype in (int, float):
-        if dtype == int:
-            values = rng.integers(-1e6, high=1e6, size=100000, dtype=dtype)
-        else:
-            values = rng.uniform(low=-1e6, high=1e6, size=100000)
-
-        expected = np.cumsum(values)
-
-        values = wp.array(values, dtype=dtype, device=device)
-        result_inc = wp.zeros_like(values)
-        result_exc = wp.zeros_like(values)
-
-        wp.utils.array_scan(values, result_inc, True)
-        wp.utils.array_scan(values, result_exc, False)
-
-        tolerance = 0 if dtype == int else 1e-3
-
-        result_inc = result_inc.numpy().squeeze()
-        result_exc = result_exc.numpy().squeeze()
-        error_inc = np.max(np.abs(result_inc - expected)) / abs(expected[-1])
-        error_exc = max(np.max(np.abs(result_exc[1:] - expected[:-1])), abs(result_exc[0])) / abs(expected[-2])
-
-        test.assertTrue(error_inc <= tolerance)
-        test.assertTrue(error_exc <= tolerance)
-
-
-def test_array_scan_empty(test, device):
-    values = wp.array((), dtype=int, device=device)
-    result = wp.array((), dtype=int, device=device)
-    wp.utils.array_scan(values, result)
-
-
-def test_array_scan_error_sizes_mismatch(test, device):
-    values = wp.zeros(123, dtype=int, device=device)
-    result = wp.zeros(234, dtype=int, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Array storage sizes do not match$",
-    ):
-        wp.utils.array_scan(values, result, True)
-
-
-def test_array_scan_error_dtypes_mismatch(test, device):
-    values = wp.zeros(123, dtype=int, device=device)
-    result = wp.zeros(123, dtype=float, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Array data types do not match$",
-    ):
-        wp.utils.array_scan(values, result, True)
-
-
-def test_array_scan_error_unsupported_dtype(test, device):
-    values = wp.zeros(123, dtype=wp.vec3, device=device)
-    result = wp.zeros(123, dtype=wp.vec3, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Unsupported data type$",
-    ):
-        wp.utils.array_scan(values, result, True)
-
-
-def test_radix_sort_pairs(test, device):
-    keys = wp.array((7, 2, 8, 4, 1, 6, 5, 3, 0, 0, 0, 0, 0, 0, 0, 0), dtype=int, device=device)
-    values = wp.array((1, 2, 3, 4, 5, 6, 7, 8, 0, 0, 0, 0, 0, 0, 0, 0), dtype=int, device=device)
-    wp.utils.radix_sort_pairs(keys, values, 8)
-    assert_np_equal(keys.numpy()[:8], np.array((1, 2, 3, 4, 5, 6, 7, 8)))
-    assert_np_equal(values.numpy()[:8], np.array((5, 2, 8, 4, 7, 6, 1, 3)))
-
-
-def test_radix_sort_pairs_empty(test, device):
-    keys = wp.array((), dtype=int, device=device)
-    values = wp.array((), dtype=int, device=device)
-    wp.utils.radix_sort_pairs(keys, values, 0)
-
-
-def test_radix_sort_pairs_error_insufficient_storage(test, device):
-    keys = wp.array((1, 2, 3), dtype=int, device=device)
-    values = wp.array((1, 2, 3), dtype=int, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Array storage must be large enough to contain 2\*count elements$",
-    ):
-        wp.utils.radix_sort_pairs(keys, values, 3)
-
-
-def test_radix_sort_pairs_error_unsupported_dtype(test, device):
-    keys = wp.array((1.0, 2.0, 3.0), dtype=float, device=device)
-    values = wp.array((1.0, 2.0, 3.0), dtype=float, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Unsupported data type$",
-    ):
-        wp.utils.radix_sort_pairs(keys, values, 1)
-
-
-def test_array_sum(test, device):
-    for dtype in (wp.float32, wp.float64):
-        with test.subTest(dtype=dtype):
-            values = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
-            test.assertEqual(wp.utils.array_sum(values), 6.0)
-
-            values = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
-            result = wp.empty(shape=(1,), dtype=dtype, device=device)
-            wp.utils.array_sum(values, out=result)
-            test.assertEqual(result.numpy()[0], 6.0)
-
-
-def test_array_sum_error_out_dtype_mismatch(test, device):
-    values = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    result = wp.empty(shape=(1,), dtype=wp.float64, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"out array should have type float32$",
-    ):
-        wp.utils.array_sum(values, out=result)
-
-
-def test_array_sum_error_out_shape_mismatch(test, device):
-    values = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    result = wp.empty(shape=(2,), dtype=wp.float32, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"out array should have shape \(1,\)$",
-    ):
-        wp.utils.array_sum(values, out=result)
-
-
-def test_array_sum_error_unsupported_dtype(test, device):
-    values = wp.array((1, 2, 3), dtype=int, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Unsupported data type$",
-    ):
-        wp.utils.array_sum(values)
-
-
-def test_array_inner(test, device):
-    for dtype in (wp.float32, wp.float64):
-        a = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
-        b = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
-        test.assertEqual(wp.utils.array_inner(a, b), 14.0)
-
-        a = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
-        b = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
-        result = wp.empty(shape=(1,), dtype=dtype, device=device)
-        wp.utils.array_inner(a, b, out=result)
-        test.assertEqual(result.numpy()[0], 14.0)
-
-
-def test_array_inner_error_sizes_mismatch(test, device):
-    a = wp.array((1.0, 2.0), dtype=wp.float32, device=device)
-    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Array storage sizes do not match$",
-    ):
-        wp.utils.array_inner(a, b)
-
-
-def test_array_inner_error_dtypes_mismatch(test, device):
-    a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float64, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Array data types do not match$",
-    ):
-        wp.utils.array_inner(a, b)
-
-
-def test_array_inner_error_out_dtype_mismatch(test, device):
-    a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    result = wp.empty(shape=(1,), dtype=wp.float64, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"out array should have type float32$",
-    ):
-        wp.utils.array_inner(a, b, result)
-
-
-def test_array_inner_error_out_shape_mismatch(test, device):
-    a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
-    result = wp.empty(shape=(2,), dtype=wp.float32, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"out array should have shape \(1,\)$",
-    ):
-        wp.utils.array_inner(a, b, result)
-
-
-def test_array_inner_error_unsupported_dtype(test, device):
-    a = wp.array((1, 2, 3), dtype=int, device=device)
-    b = wp.array((1, 2, 3), dtype=int, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Unsupported data type$",
-    ):
-        wp.utils.array_inner(a, b)
-
-
-def test_array_cast(test, device):
-    values = wp.array((1, 2, 3), dtype=int, device=device)
-    result = wp.empty(3, dtype=float, device=device)
-    wp.utils.array_cast(values, result)
-    test.assertEqual(result.dtype, wp.float32)
-    test.assertEqual(result.shape, (3,))
-    assert_np_equal(result.numpy(), np.array((1.0, 2.0, 3.0), dtype=float))
-
-    values = wp.array((1, 2, 3, 4), dtype=int, device=device)
-    result = wp.empty((2, 2), dtype=float, device=device)
-    wp.utils.array_cast(values, result)
-    test.assertEqual(result.dtype, wp.float32)
-    test.assertEqual(result.shape, (2, 2))
-    assert_np_equal(result.numpy(), np.array(((1.0, 2.0), (3.0, 4.0)), dtype=float))
-
-    values = wp.array(((1, 2), (3, 4)), dtype=wp.vec2, device=device)
-    result = wp.zeros(2, dtype=float, device=device)
-    wp.utils.array_cast(values, result, count=1)
-    test.assertEqual(result.dtype, wp.float32)
-    test.assertEqual(result.shape, (2,))
-    assert_np_equal(result.numpy(), np.array((1.0, 2.0), dtype=float))
-
-    values = wp.array(((1, 2), (3, 4)), dtype=int, device=device)
-    result = wp.zeros((2, 2), dtype=int, device=device)
-    wp.utils.array_cast(values, result)
-    test.assertEqual(result.dtype, wp.int32)
-    test.assertEqual(result.shape, (2, 2))
-    assert_np_equal(result.numpy(), np.array(((1, 2), (3, 4)), dtype=int))
-
-
-def test_array_cast_error_unsupported_partial_cast(test, device):
-    values = wp.array(((1, 2), (3, 4)), dtype=int, device=device)
-    result = wp.zeros((2, 2), dtype=float, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Partial cast is not supported for arrays with more than one dimension$",
-    ):
-        wp.utils.array_cast(values, result, count=1)
-
-
-devices = get_test_devices()
-
-
-class TestUtils(unittest.TestCase):
-    def test_warn(self):
-        # Multiple warnings get printed out each time.
-        with contextlib.redirect_stdout(io.StringIO()) as f:
-            wp.utils.warn("hello, world!")
-            wp.utils.warn("hello, world!")
-
-        expected = (
-            "Warp UserWarning: hello, world!\n"
-            "Warp UserWarning: hello, world!\n"
-        )
-
-        self.assertEqual(f.getvalue(), expected)
-
-        # Test verbose warnings
-        saved_verbosity = wp.config.verbose_warnings
-        try:
-            wp.config.verbose_warnings = True
-            with contextlib.redirect_stdout(io.StringIO()) as f:
-                frame_info = inspect.getframeinfo(inspect.currentframe())
-                wp.utils.warn("hello, world!")
-                wp.utils.warn("hello, world!")
-
-            expected = (
-                f"Warp UserWarning: hello, world! ({frame_info.filename}:{frame_info.lineno + 1})\n"
-                "  wp.utils.warn(\"hello, world!\")\n"
-                f"Warp UserWarning: hello, world! ({frame_info.filename}:{frame_info.lineno + 2})\n"
-                "  wp.utils.warn(\"hello, world!\")\n"
-            )
-
-            self.assertEqual(f.getvalue(), expected)
-
-        finally:
-            # make sure to restore warning verbosity
-            wp.config.verbose_warnings = saved_verbosity
-
-
-        # Multiple similar deprecation warnings get printed out only once.
-        with contextlib.redirect_stdout(io.StringIO()) as f:
-            wp.utils.warn("hello, world!", category=DeprecationWarning)
-            wp.utils.warn("hello, world!", category=DeprecationWarning)
-
-        expected = (
-            "Warp DeprecationWarning: hello, world!\n"
-        )
-
-        self.assertEqual(f.getvalue(), expected)
-
-        # Multiple different deprecation warnings get printed out each time.
-        with contextlib.redirect_stdout(io.StringIO()) as f:
-            wp.utils.warn("foo", category=DeprecationWarning)
-            wp.utils.warn("bar", category=DeprecationWarning)
-
-        expected = (
-            "Warp DeprecationWarning: foo\n"
-            "Warp DeprecationWarning: bar\n"
-        )
-
-        self.assertEqual(f.getvalue(), expected)
-
-    def test_transform_expand(self):
-        t = (1.0, 2.0, 3.0, 4.0, 3.0, 2.0, 1.0)
-        self.assertEqual(
-            wp.utils.transform_expand(t),
-            wp.transformf(p=(1.0, 2.0, 3.0), q=(4.0, 3.0, 2.0, 1.0)),
-        )
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_array_scan_error_devices_mismatch(self):
-        values = wp.zeros(123, dtype=int, device="cpu")
-        result = wp.zeros_like(values, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            wp.utils.array_scan(values, result, True)
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_radix_sort_pairs_error_devices_mismatch(self):
-        keys = wp.array((1, 2, 3), dtype=int, device="cpu")
-        values = wp.array((1, 2, 3), dtype=int, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            wp.utils.radix_sort_pairs(keys, values, 1)
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_array_inner_error_out_device_mismatch(self):
-        a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
-        b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
-        result = wp.empty(shape=(1,), dtype=wp.float32, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"out storage device should match values array$",
-        ):
-            wp.utils.array_inner(a, b, result)
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_array_sum_error_out_device_mismatch(self):
-        values = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
-        result = wp.empty(shape=(1,), dtype=wp.float32, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"out storage device should match values array$",
-        ):
-            wp.utils.array_sum(values, out=result)
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_array_inner_error_devices_mismatch(self):
-        a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
-        b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            wp.utils.array_inner(a, b)
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_array_cast_error_devices_mismatch(self):
-        values = wp.array((1, 2, 3), dtype=int, device="cpu")
-        result = wp.empty(3, dtype=float, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            wp.utils.array_cast(values, result)
-
-    def test_mesh_adjacency(self):
-        triangles = (
-            (0, 3, 1),
-            (0, 2, 3),
-        )
-        adj = wp.utils.MeshAdjacency(triangles, len(triangles))
-        expected_edges = {
-            (0, 3): (0, 3, 1, 2, 0, 1),
-            (1, 3): (3, 1, 0, -1, 0, -1),
-            (0, 1): (1, 0, 3, -1, 0, -1),
-            (0, 2): (0, 2, 3, -1, 1, -1),
-            (2, 3): (2, 3, 0, -1, 1, -1),
-        }
-        edges = {k: (e.v0, e.v1, e.o0, e.o1, e.f0, e.f1) for k, e in adj.edges.items()}
-        self.assertDictEqual(edges, expected_edges)
-
-    def test_mesh_adjacency_error_manifold(self):
-        triangles = (
-            (0, 3, 1),
-            (0, 2, 3),
-            (3, 0, 1),
-        )
-
-        with contextlib.redirect_stdout(io.StringIO()) as f:
-            wp.utils.MeshAdjacency(triangles, len(triangles))
-
-        self.assertEqual(f.getvalue(), "Detected non-manifold edge\n")
-
-    def test_scoped_timer(self):
-        with contextlib.redirect_stdout(io.StringIO()) as f:
-            with wp.ScopedTimer("hello"):
-                pass
-
-        self.assertRegex(f.getvalue(), r"^hello took \d+\.\d+ ms$")
-
-        with contextlib.redirect_stdout(io.StringIO()) as f:
-            with wp.ScopedTimer("hello", detailed=True):
-                pass
-
-        self.assertRegex(f.getvalue(), r"^         4 function calls in \d+\.\d+ seconds")
-        self.assertRegex(f.getvalue(), r"hello took \d+\.\d+ ms$")
-
-
-add_function_test(TestUtils, "test_array_scan", test_array_scan, devices=devices)
-add_function_test(TestUtils, "test_array_scan_empty", test_array_scan_empty, devices=devices)
-add_function_test(
-    TestUtils, "test_array_scan_error_sizes_mismatch", test_array_scan_error_sizes_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_scan_error_dtypes_mismatch", test_array_scan_error_dtypes_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_scan_error_unsupported_dtype", test_array_scan_error_unsupported_dtype, devices=devices
-)
-add_function_test(TestUtils, "test_radix_sort_pairs", test_radix_sort_pairs, devices=devices)
-add_function_test(TestUtils, "test_radix_sort_pairs_empty", test_radix_sort_pairs, devices=devices)
-add_function_test(
-    TestUtils,
-    "test_radix_sort_pairs_error_insufficient_storage",
-    test_radix_sort_pairs_error_insufficient_storage,
-    devices=devices,
-)
-add_function_test(
-    TestUtils,
-    "test_radix_sort_pairs_error_unsupported_dtype",
-    test_radix_sort_pairs_error_unsupported_dtype,
-    devices=devices,
-)
-add_function_test(TestUtils, "test_array_sum", test_array_sum, devices=devices)
-add_function_test(
-    TestUtils, "test_array_sum_error_out_dtype_mismatch", test_array_sum_error_out_dtype_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_sum_error_out_shape_mismatch", test_array_sum_error_out_shape_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_sum_error_unsupported_dtype", test_array_sum_error_unsupported_dtype, devices=devices
-)
-add_function_test(TestUtils, "test_array_inner", test_array_inner, devices=devices)
-add_function_test(
-    TestUtils, "test_array_inner_error_sizes_mismatch", test_array_inner_error_sizes_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_inner_error_dtypes_mismatch", test_array_inner_error_dtypes_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_inner_error_out_dtype_mismatch", test_array_inner_error_out_dtype_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_inner_error_out_shape_mismatch", test_array_inner_error_out_shape_mismatch, devices=devices
-)
-add_function_test(
-    TestUtils, "test_array_inner_error_unsupported_dtype", test_array_inner_error_unsupported_dtype, devices=devices
-)
-add_function_test(TestUtils, "test_array_cast", test_array_cast, devices=devices)
-add_function_test(
-    TestUtils,
-    "test_array_cast_error_unsupported_partial_cast",
-    test_array_cast_error_unsupported_partial_cast,
-    devices=devices,
-)
-
-
-if __name__ == "__main__":
-    wp.build.clear_kernel_cache()
-    unittest.main(verbosity=2)
+# 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 contextlib
+import inspect
+import io
+import unittest
+
+from warp.tests.unittest_utils import *
+
+wp.init()
+
+
+def test_array_scan(test, device):
+    rng = np.random.default_rng(123)
+
+    for dtype in (int, float):
+        if dtype == int:
+            values = rng.integers(-1e6, high=1e6, size=100000, dtype=dtype)
+        else:
+            values = rng.uniform(low=-1e6, high=1e6, size=100000)
+
+        expected = np.cumsum(values)
+
+        values = wp.array(values, dtype=dtype, device=device)
+        result_inc = wp.zeros_like(values)
+        result_exc = wp.zeros_like(values)
+
+        wp.utils.array_scan(values, result_inc, True)
+        wp.utils.array_scan(values, result_exc, False)
+
+        tolerance = 0 if dtype == int else 1e-3
+
+        result_inc = result_inc.numpy().squeeze()
+        result_exc = result_exc.numpy().squeeze()
+        error_inc = np.max(np.abs(result_inc - expected)) / abs(expected[-1])
+        error_exc = max(np.max(np.abs(result_exc[1:] - expected[:-1])), abs(result_exc[0])) / abs(expected[-2])
+
+        test.assertTrue(error_inc <= tolerance)
+        test.assertTrue(error_exc <= tolerance)
+
+
+def test_array_scan_empty(test, device):
+    values = wp.array((), dtype=int, device=device)
+    result = wp.array((), dtype=int, device=device)
+    wp.utils.array_scan(values, result)
+
+
+def test_array_scan_error_sizes_mismatch(test, device):
+    values = wp.zeros(123, dtype=int, device=device)
+    result = wp.zeros(234, dtype=int, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Array storage sizes do not match$",
+    ):
+        wp.utils.array_scan(values, result, True)
+
+
+def test_array_scan_error_dtypes_mismatch(test, device):
+    values = wp.zeros(123, dtype=int, device=device)
+    result = wp.zeros(123, dtype=float, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Array data types do not match$",
+    ):
+        wp.utils.array_scan(values, result, True)
+
+
+def test_array_scan_error_unsupported_dtype(test, device):
+    values = wp.zeros(123, dtype=wp.vec3, device=device)
+    result = wp.zeros(123, dtype=wp.vec3, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Unsupported data type$",
+    ):
+        wp.utils.array_scan(values, result, True)
+
+
+def test_radix_sort_pairs(test, device):
+    keys = wp.array((7, 2, 8, 4, 1, 6, 5, 3, 0, 0, 0, 0, 0, 0, 0, 0), dtype=int, device=device)
+    values = wp.array((1, 2, 3, 4, 5, 6, 7, 8, 0, 0, 0, 0, 0, 0, 0, 0), dtype=int, device=device)
+    wp.utils.radix_sort_pairs(keys, values, 8)
+    assert_np_equal(keys.numpy()[:8], np.array((1, 2, 3, 4, 5, 6, 7, 8)))
+    assert_np_equal(values.numpy()[:8], np.array((5, 2, 8, 4, 7, 6, 1, 3)))
+
+
+def test_radix_sort_pairs_empty(test, device):
+    keys = wp.array((), dtype=int, device=device)
+    values = wp.array((), dtype=int, device=device)
+    wp.utils.radix_sort_pairs(keys, values, 0)
+
+
+def test_radix_sort_pairs_error_insufficient_storage(test, device):
+    keys = wp.array((1, 2, 3), dtype=int, device=device)
+    values = wp.array((1, 2, 3), dtype=int, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Array storage must be large enough to contain 2\*count elements$",
+    ):
+        wp.utils.radix_sort_pairs(keys, values, 3)
+
+
+def test_radix_sort_pairs_error_unsupported_dtype(test, device):
+    keys = wp.array((1.0, 2.0, 3.0), dtype=float, device=device)
+    values = wp.array((1.0, 2.0, 3.0), dtype=float, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Unsupported data type$",
+    ):
+        wp.utils.radix_sort_pairs(keys, values, 1)
+
+
+def test_array_sum(test, device):
+    for dtype in (wp.float32, wp.float64):
+        with test.subTest(dtype=dtype):
+            values = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
+            test.assertEqual(wp.utils.array_sum(values), 6.0)
+
+            values = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
+            result = wp.empty(shape=(1,), dtype=dtype, device=device)
+            wp.utils.array_sum(values, out=result)
+            test.assertEqual(result.numpy()[0], 6.0)
+
+
+def test_array_sum_error_out_dtype_mismatch(test, device):
+    values = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    result = wp.empty(shape=(1,), dtype=wp.float64, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"out array should have type float32$",
+    ):
+        wp.utils.array_sum(values, out=result)
+
+
+def test_array_sum_error_out_shape_mismatch(test, device):
+    values = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    result = wp.empty(shape=(2,), dtype=wp.float32, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"out array should have shape \(1,\)$",
+    ):
+        wp.utils.array_sum(values, out=result)
+
+
+def test_array_sum_error_unsupported_dtype(test, device):
+    values = wp.array((1, 2, 3), dtype=int, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Unsupported data type$",
+    ):
+        wp.utils.array_sum(values)
+
+
+def test_array_inner(test, device):
+    for dtype in (wp.float32, wp.float64):
+        a = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
+        b = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
+        test.assertEqual(wp.utils.array_inner(a, b), 14.0)
+
+        a = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
+        b = wp.array((1.0, 2.0, 3.0), dtype=dtype, device=device)
+        result = wp.empty(shape=(1,), dtype=dtype, device=device)
+        wp.utils.array_inner(a, b, out=result)
+        test.assertEqual(result.numpy()[0], 14.0)
+
+
+def test_array_inner_error_sizes_mismatch(test, device):
+    a = wp.array((1.0, 2.0), dtype=wp.float32, device=device)
+    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Array storage sizes do not match$",
+    ):
+        wp.utils.array_inner(a, b)
+
+
+def test_array_inner_error_dtypes_mismatch(test, device):
+    a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float64, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Array data types do not match$",
+    ):
+        wp.utils.array_inner(a, b)
+
+
+def test_array_inner_error_out_dtype_mismatch(test, device):
+    a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    result = wp.empty(shape=(1,), dtype=wp.float64, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"out array should have type float32$",
+    ):
+        wp.utils.array_inner(a, b, result)
+
+
+def test_array_inner_error_out_shape_mismatch(test, device):
+    a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device=device)
+    result = wp.empty(shape=(2,), dtype=wp.float32, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"out array should have shape \(1,\)$",
+    ):
+        wp.utils.array_inner(a, b, result)
+
+
+def test_array_inner_error_unsupported_dtype(test, device):
+    a = wp.array((1, 2, 3), dtype=int, device=device)
+    b = wp.array((1, 2, 3), dtype=int, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Unsupported data type$",
+    ):
+        wp.utils.array_inner(a, b)
+
+
+def test_array_cast(test, device):
+    values = wp.array((1, 2, 3), dtype=int, device=device)
+    result = wp.empty(3, dtype=float, device=device)
+    wp.utils.array_cast(values, result)
+    test.assertEqual(result.dtype, wp.float32)
+    test.assertEqual(result.shape, (3,))
+    assert_np_equal(result.numpy(), np.array((1.0, 2.0, 3.0), dtype=float))
+
+    values = wp.array((1, 2, 3, 4), dtype=int, device=device)
+    result = wp.empty((2, 2), dtype=float, device=device)
+    wp.utils.array_cast(values, result)
+    test.assertEqual(result.dtype, wp.float32)
+    test.assertEqual(result.shape, (2, 2))
+    assert_np_equal(result.numpy(), np.array(((1.0, 2.0), (3.0, 4.0)), dtype=float))
+
+    values = wp.array(((1, 2), (3, 4)), dtype=wp.vec2, device=device)
+    result = wp.zeros(2, dtype=float, device=device)
+    wp.utils.array_cast(values, result, count=1)
+    test.assertEqual(result.dtype, wp.float32)
+    test.assertEqual(result.shape, (2,))
+    assert_np_equal(result.numpy(), np.array((1.0, 2.0), dtype=float))
+
+    values = wp.array(((1, 2), (3, 4)), dtype=int, device=device)
+    result = wp.zeros((2, 2), dtype=int, device=device)
+    wp.utils.array_cast(values, result)
+    test.assertEqual(result.dtype, wp.int32)
+    test.assertEqual(result.shape, (2, 2))
+    assert_np_equal(result.numpy(), np.array(((1, 2), (3, 4)), dtype=int))
+
+
+def test_array_cast_error_unsupported_partial_cast(test, device):
+    values = wp.array(((1, 2), (3, 4)), dtype=int, device=device)
+    result = wp.zeros((2, 2), dtype=float, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Partial cast is not supported for arrays with more than one dimension$",
+    ):
+        wp.utils.array_cast(values, result, count=1)
+
+
+devices = get_test_devices()
+
+
+class TestUtils(unittest.TestCase):
+    def test_warn(self):
+        # Multiple warnings get printed out each time.
+        with contextlib.redirect_stdout(io.StringIO()) as f:
+            wp.utils.warn("hello, world!")
+            wp.utils.warn("hello, world!")
+
+        expected = "Warp UserWarning: hello, world!\n" "Warp UserWarning: hello, world!\n"
+
+        self.assertEqual(f.getvalue(), expected)
+
+        # Test verbose warnings
+        saved_verbosity = wp.config.verbose_warnings
+        try:
+            wp.config.verbose_warnings = True
+            with contextlib.redirect_stdout(io.StringIO()) as f:
+                frame_info = inspect.getframeinfo(inspect.currentframe())
+                wp.utils.warn("hello, world!")
+                wp.utils.warn("hello, world!")
+
+            expected = (
+                f"Warp UserWarning: hello, world! ({frame_info.filename}:{frame_info.lineno + 1})\n"
+                '  wp.utils.warn("hello, world!")\n'
+                f"Warp UserWarning: hello, world! ({frame_info.filename}:{frame_info.lineno + 2})\n"
+                '  wp.utils.warn("hello, world!")\n'
+            )
+
+            self.assertEqual(f.getvalue(), expected)
+
+        finally:
+            # make sure to restore warning verbosity
+            wp.config.verbose_warnings = saved_verbosity
+
+        # Multiple similar deprecation warnings get printed out only once.
+        with contextlib.redirect_stdout(io.StringIO()) as f:
+            wp.utils.warn("hello, world!", category=DeprecationWarning)
+            wp.utils.warn("hello, world!", category=DeprecationWarning)
+
+        expected = "Warp DeprecationWarning: hello, world!\n"
+
+        self.assertEqual(f.getvalue(), expected)
+
+        # Multiple different deprecation warnings get printed out each time.
+        with contextlib.redirect_stdout(io.StringIO()) as f:
+            wp.utils.warn("foo", category=DeprecationWarning)
+            wp.utils.warn("bar", category=DeprecationWarning)
+
+        expected = "Warp DeprecationWarning: foo\n" "Warp DeprecationWarning: bar\n"
+
+        self.assertEqual(f.getvalue(), expected)
+
+    def test_transform_expand(self):
+        t = (1.0, 2.0, 3.0, 4.0, 3.0, 2.0, 1.0)
+        self.assertEqual(
+            wp.utils.transform_expand(t),
+            wp.transformf(p=(1.0, 2.0, 3.0), q=(4.0, 3.0, 2.0, 1.0)),
+        )
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_array_scan_error_devices_mismatch(self):
+        values = wp.zeros(123, dtype=int, device="cpu")
+        result = wp.zeros_like(values, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            wp.utils.array_scan(values, result, True)
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_radix_sort_pairs_error_devices_mismatch(self):
+        keys = wp.array((1, 2, 3), dtype=int, device="cpu")
+        values = wp.array((1, 2, 3), dtype=int, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            wp.utils.radix_sort_pairs(keys, values, 1)
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_array_inner_error_out_device_mismatch(self):
+        a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
+        b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
+        result = wp.empty(shape=(1,), dtype=wp.float32, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"out storage device should match values array$",
+        ):
+            wp.utils.array_inner(a, b, result)
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_array_sum_error_out_device_mismatch(self):
+        values = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
+        result = wp.empty(shape=(1,), dtype=wp.float32, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"out storage device should match values array$",
+        ):
+            wp.utils.array_sum(values, out=result)
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_array_inner_error_devices_mismatch(self):
+        a = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cpu")
+        b = wp.array((1.0, 2.0, 3.0), dtype=wp.float32, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            wp.utils.array_inner(a, b)
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_array_cast_error_devices_mismatch(self):
+        values = wp.array((1, 2, 3), dtype=int, device="cpu")
+        result = wp.empty(3, dtype=float, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            wp.utils.array_cast(values, result)
+
+    def test_mesh_adjacency(self):
+        triangles = (
+            (0, 3, 1),
+            (0, 2, 3),
+        )
+        adj = wp.utils.MeshAdjacency(triangles, len(triangles))
+        expected_edges = {
+            (0, 3): (0, 3, 1, 2, 0, 1),
+            (1, 3): (3, 1, 0, -1, 0, -1),
+            (0, 1): (1, 0, 3, -1, 0, -1),
+            (0, 2): (0, 2, 3, -1, 1, -1),
+            (2, 3): (2, 3, 0, -1, 1, -1),
+        }
+        edges = {k: (e.v0, e.v1, e.o0, e.o1, e.f0, e.f1) for k, e in adj.edges.items()}
+        self.assertDictEqual(edges, expected_edges)
+
+    def test_mesh_adjacency_error_manifold(self):
+        triangles = (
+            (0, 3, 1),
+            (0, 2, 3),
+            (3, 0, 1),
+        )
+
+        with contextlib.redirect_stdout(io.StringIO()) as f:
+            wp.utils.MeshAdjacency(triangles, len(triangles))
+
+        self.assertEqual(f.getvalue(), "Detected non-manifold edge\n")
+
+    def test_scoped_timer(self):
+        with contextlib.redirect_stdout(io.StringIO()) as f:
+            with wp.ScopedTimer("hello"):
+                pass
+
+        self.assertRegex(f.getvalue(), r"^hello took \d+\.\d+ ms$")
+
+        with contextlib.redirect_stdout(io.StringIO()) as f:
+            with wp.ScopedTimer("hello", detailed=True):
+                pass
+
+        self.assertRegex(f.getvalue(), r"^         4 function calls in \d+\.\d+ seconds")
+        self.assertRegex(f.getvalue(), r"hello took \d+\.\d+ ms$")
+
+
+add_function_test(TestUtils, "test_array_scan", test_array_scan, devices=devices)
+add_function_test(TestUtils, "test_array_scan_empty", test_array_scan_empty, devices=devices)
+add_function_test(
+    TestUtils, "test_array_scan_error_sizes_mismatch", test_array_scan_error_sizes_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_scan_error_dtypes_mismatch", test_array_scan_error_dtypes_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_scan_error_unsupported_dtype", test_array_scan_error_unsupported_dtype, devices=devices
+)
+add_function_test(TestUtils, "test_radix_sort_pairs", test_radix_sort_pairs, devices=devices)
+add_function_test(TestUtils, "test_radix_sort_pairs_empty", test_radix_sort_pairs, devices=devices)
+add_function_test(
+    TestUtils,
+    "test_radix_sort_pairs_error_insufficient_storage",
+    test_radix_sort_pairs_error_insufficient_storage,
+    devices=devices,
+)
+add_function_test(
+    TestUtils,
+    "test_radix_sort_pairs_error_unsupported_dtype",
+    test_radix_sort_pairs_error_unsupported_dtype,
+    devices=devices,
+)
+add_function_test(TestUtils, "test_array_sum", test_array_sum, devices=devices)
+add_function_test(
+    TestUtils, "test_array_sum_error_out_dtype_mismatch", test_array_sum_error_out_dtype_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_sum_error_out_shape_mismatch", test_array_sum_error_out_shape_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_sum_error_unsupported_dtype", test_array_sum_error_unsupported_dtype, devices=devices
+)
+add_function_test(TestUtils, "test_array_inner", test_array_inner, devices=devices)
+add_function_test(
+    TestUtils, "test_array_inner_error_sizes_mismatch", test_array_inner_error_sizes_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_inner_error_dtypes_mismatch", test_array_inner_error_dtypes_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_inner_error_out_dtype_mismatch", test_array_inner_error_out_dtype_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_inner_error_out_shape_mismatch", test_array_inner_error_out_shape_mismatch, devices=devices
+)
+add_function_test(
+    TestUtils, "test_array_inner_error_unsupported_dtype", test_array_inner_error_unsupported_dtype, devices=devices
+)
+add_function_test(TestUtils, "test_array_cast", test_array_cast, devices=devices)
+add_function_test(
+    TestUtils,
+    "test_array_cast_error_unsupported_partial_cast",
+    test_array_cast_error_unsupported_partial_cast,
+    devices=devices,
+)
+
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)