warp-lang 1.0.2__py3-none-manylinux2014_aarch64.whl → 1.1.0__py3-none-manylinux2014_aarch64.whl

warp/tests/test_ctypes.py

@@ -1,632 +1,632 @@
-# Copyright (c) 2022 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 unittest
-
-import numpy as np
-
-import warp as wp
-from warp.tests.unittest_utils import *
-
-wp.init()
-
-
-@wp.kernel
-def add_vec2(dest: wp.array(dtype=wp.vec2), c: wp.vec2):
-    tid = wp.tid()
-    dest[tid] = c
-
-
-@wp.kernel
-def transform_vec2(dest_right: wp.array(dtype=wp.vec2), dest_left: wp.array(dtype=wp.vec2), m: wp.mat22, v: wp.vec2):
-    tid = wp.tid()
-
-    dest_right[tid] = wp.mul(m, v)
-    dest_left[tid] = wp.mul(v, m)
-
-
-@wp.kernel
-def add_vec3(dest: wp.array(dtype=wp.vec3), c: wp.vec3):
-    tid = wp.tid()
-    dest[tid] = c
-
-
-@wp.kernel
-def transform_vec3(dest_right: wp.array(dtype=wp.vec3), dest_left: wp.array(dtype=wp.vec3), m: wp.mat33, v: wp.vec3):
-    tid = wp.tid()
-
-    dest_right[tid] = wp.mul(m, v)
-    dest_left[tid] = wp.mul(v, m)
-
-
-@wp.kernel
-def transform_multiply(xforms: wp.array(dtype=wp.transform), a: wp.transform):
-    tid = wp.tid()
-
-    xforms[tid] = wp.transform_multiply(xforms[tid], a)
-
-
-def test_vec2_arg(test, device, n):
-    dest = wp.zeros(n=n, dtype=wp.vec2, device=device)
-    c = np.array((1.0, 2.0))
-
-    wp.launch(add_vec2, dim=n, inputs=[dest, c], device=device)
-
-    # ensure type can round-trip from Python->GPU->Python
-    test.assertTrue(np.array_equal(dest.numpy(), np.tile(c, (n, 1))))
-
-
-def test_vec2_transform(test, device, n):
-    dest_right = wp.zeros(n=n, dtype=wp.vec2, device=device)
-    dest_left = wp.zeros(n=n, dtype=wp.vec2, device=device)
-    c = np.array((1.0, 2.0))
-    m = np.array(((3.0, -1.0), (2.5, 4.0)))
-
-    wp.launch(transform_vec2, dim=n, inputs=[dest_right, dest_left, m, c], device=device)
-    test.assertTrue(np.array_equal(dest_right.numpy(), np.tile(m @ c, (n, 1))))
-    test.assertTrue(np.array_equal(dest_left.numpy(), np.tile(c @ m, (n, 1))))
-
-
-def test_vec3_arg(test, device, n):
-    dest = wp.zeros(n=n, dtype=wp.vec3, device=device)
-    c = np.array((1.0, 2.0, 3.0))
-
-    wp.launch(add_vec3, dim=n, inputs=[dest, c], device=device)
-    test.assertTrue(np.array_equal(dest.numpy(), np.tile(c, (n, 1))))
-
-
-def test_vec3_transform(test, device, n):
-    dest_right = wp.zeros(n=n, dtype=wp.vec3, device=device)
-    dest_left = wp.zeros(n=n, dtype=wp.vec3, device=device)
-    c = np.array((1.0, 2.0, 3.0))
-    m = np.array(((1.0, 2.0, 3.0), (4.0, 5.0, 6.0), (7.0, 8.0, 9.0)))
-
-    wp.launch(transform_vec3, dim=n, inputs=[dest_right, dest_left, m, c], device=device)
-    test.assertTrue(np.array_equal(dest_right.numpy(), np.tile(m @ c, (n, 1))))
-    test.assertTrue(np.array_equal(dest_left.numpy(), np.tile(c @ m, (n, 1))))
-
-
-def test_transform_multiply(test, device, n):
-    a = wp.transform((0.0, 1.0, 0.0), wp.quat_identity())
-
-    x = []
-    for i in range(10):
-        x.append(wp.transform_identity())
-
-    xforms = wp.array(x, dtype=wp.transform, device=device)
-    wp.launch(transform_multiply, dim=n, inputs=[xforms, a], device=device)
-
-
-transformf = wp.types.transformation(dtype=wp.float32)
-
-
-@wp.kernel
-def test_transformation_constructor():
-    a = wp.transformation(wp.vec3(0.0), wp.quat_identity())
-    b = transformf(wp.vec3(0.0), wp.quat_identity())
-    c = wp.transform_identity(dtype=wp.float64)
-
-
-spatial_vector = wp.types.vector(length=6, dtype=wp.float32)
-
-
-@wp.kernel
-def test_spatial_vector_constructor():
-    a = wp.spatial_vector(wp.vec3(0.0), wp.vec3(0.0))
-
-
-# construct kernel + test harness for given matrix / vector types
-def make_matrix_test(dim, matrix, vector):
-    def test_matrix_kernel(
-        a: wp.array(dtype=matrix),
-        b: wp.array(dtype=matrix),
-        c: wp.array(dtype=matrix),
-        x: wp.array(dtype=vector),
-        result_m: wp.array(dtype=matrix),
-        result_i: wp.array(dtype=matrix),
-        result_d: wp.array(dtype=float),
-        result_x: wp.array(dtype=vector),
-    ):
-        tid = wp.tid()
-
-        m = a[tid] * b[tid] + c[tid] * 2.0
-
-        result_m[tid] = m
-        result_x[tid] = m * x[tid]
-
-        result_d[tid] = wp.determinant(m)
-
-        invm = wp.inverse(m)
-        result_i[tid] = m * invm
-
-    # register a custom kernel (no decorator) function
-    # this lets us register the same function definition
-    # against multiple symbols, with different arg types
-    kernel = wp.Kernel(func=test_matrix_kernel, key=f"test_mat{dim}{dim}_kernel")
-
-    def test_matrix(test, device):
-        rng = np.random.default_rng(42)
-
-        n = 1024
-
-        a = rng.random(size=(n, dim, dim), dtype=float)
-        b = rng.random(size=(n, dim, dim), dtype=float)
-        c = rng.random(size=(n, dim, dim), dtype=float)
-        x = rng.random(size=(n, dim, 1), dtype=float)
-
-        a_array = wp.array(a, dtype=matrix, device=device)
-        b_array = wp.array(b, dtype=matrix, device=device)
-        c_array = wp.array(c, dtype=matrix, device=device)
-
-        x_array = wp.array(x, dtype=vector, device=device)
-
-        result_m_array = wp.zeros_like(a_array)
-        result_i_array = wp.zeros_like(a_array)
-        result_x_array = wp.zeros_like(x_array)
-        result_d_array = wp.zeros(n, dtype=float, device=device)
-
-        wp.launch(
-            kernel,
-            n,
-            inputs=[a_array, b_array, c_array, x_array, result_m_array, result_i_array, result_d_array, result_x_array],
-            device=device,
-        )
-
-        # numpy reference result
-        result_m = np.matmul(a, b) + c * 2.0
-        result_x = np.matmul(result_m, x)
-        result_i = np.array([np.eye(dim)] * n)
-        result_d = np.linalg.det(result_m)
-
-        assert_np_equal(result_m_array.numpy(), result_m, tol=1.0e-5)
-        assert_np_equal(result_i_array.numpy(), result_i, tol=1.0e-3)
-        assert_np_equal(result_d_array.numpy(), result_d, tol=1.0e-3)
-        assert_np_equal(result_x_array.numpy(), result_x, tol=1.0e-5)
-
-    return test_matrix
-
-
-# generate test functions for matrix types
-test_mat22 = make_matrix_test(2, wp.mat22, wp.vec2)
-test_mat33 = make_matrix_test(3, wp.mat33, wp.vec3)
-test_mat44 = make_matrix_test(4, wp.mat44, wp.vec4)
-
-
-def test_scalar_array(test, device):
-    scalar_list = (0.0, 1.0, 2.0)
-    scalar_array = wp.array(scalar_list, device=device)
-
-    assert_np_equal(np.array(scalar_list), scalar_array.numpy())
-
-
-def test_vector_array(test, device):
-    vector_list = [(0.0, 0.0, 0.0), (1.0, 1.0, 1.0), (2.0, 2.0, 2.0)]
-
-    vector_array = wp.array(vector_list, dtype=wp.vec3, device=device)
-
-    assert_np_equal(np.array(vector_list), vector_array.numpy())
-
-
-@wp.kernel
-def test_vector_arg_types(v2: wp.vec2, v3: wp.vec3, v4: wp.vec4, m22: wp.mat22, m33: wp.mat33, m44: wp.mat44):
-    wp.expect_eq(v2, wp.vec2(1.0, 2.0))
-    wp.expect_eq(v3, wp.vec3(1.0, 2.0, 3.0))
-    wp.expect_eq(v4, wp.vec4(1.0, 2.0, 3.0, 4.0))
-
-    wp.expect_eq(m22, wp.mat22(1.0, 2.0, 3.0, 4.0))
-
-    wp.expect_eq(m33, wp.mat33(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0))
-
-    wp.expect_eq(m44, wp.mat44(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0, 14.0, 15.0, 16.0))
-
-
-@wp.kernel
-def test_scalar_arg_types(
-    i8: wp.int8,
-    u8: wp.uint8,
-    i16: wp.int16,
-    u16: wp.uint16,
-    i32: wp.int32,
-    u32: wp.uint32,
-    i64: wp.int64,
-    u64: wp.uint64,
-    f32: wp.float32,
-    f64: wp.float64,
-):
-    wp.expect_eq(int(i8), -64)
-    wp.expect_eq(int(u8), 255)
-    wp.expect_eq(int(i16), -64)
-    wp.expect_eq(int(u16), 255)
-    wp.expect_eq(int(i32), -64)
-    wp.expect_eq(int(u32), 255)
-    wp.expect_eq(int(i64), -64)
-    wp.expect_eq(int(u64), 255)
-    wp.expect_eq(int(f32), 3)
-    wp.expect_eq(int(f64), 3)
-    wp.expect_eq(float(f32), 3.14159)
-    wp.expect_eq(float(f64), 3.14159)
-
-
-@wp.kernel
-def test_scalar_array_types_load(
-    i8: wp.array(dtype=wp.int8),
-    u8: wp.array(dtype=wp.uint8),
-    i16: wp.array(dtype=wp.int16),
-    u16: wp.array(dtype=wp.uint16),
-    i32: wp.array(dtype=wp.int32),
-    u32: wp.array(dtype=wp.uint32),
-    i64: wp.array(dtype=wp.int64),
-    u64: wp.array(dtype=wp.uint64),
-    f32: wp.array(dtype=wp.float32),
-    f64: wp.array(dtype=wp.float64),
-):
-    tid = wp.tid()
-
-    wp.expect_eq(int(i8[tid]), tid)
-    wp.expect_eq(int(u8[tid]), tid)
-    wp.expect_eq(int(i16[tid]), tid)
-    wp.expect_eq(int(u16[tid]), tid)
-    wp.expect_eq(int(i32[tid]), tid)
-    wp.expect_eq(int(u32[tid]), tid)
-    wp.expect_eq(int(i64[tid]), tid)
-    wp.expect_eq(int(u64[tid]), tid)
-    wp.expect_eq(float(f32[tid]), float(tid))
-    wp.expect_eq(float(f64[tid]), float(tid))
-
-
-@wp.kernel
-def test_scalar_array_types_store(
-    i8: wp.array(dtype=wp.int8),
-    u8: wp.array(dtype=wp.uint8),
-    i16: wp.array(dtype=wp.int16),
-    u16: wp.array(dtype=wp.uint16),
-    i32: wp.array(dtype=wp.int32),
-    u32: wp.array(dtype=wp.uint32),
-    i64: wp.array(dtype=wp.int64),
-    u64: wp.array(dtype=wp.uint64),
-    f32: wp.array(dtype=wp.float32),
-    f64: wp.array(dtype=wp.float64),
-):
-    tid = wp.tid()
-
-    i8[tid] = wp.int8(tid)
-    u8[tid] = wp.uint8(tid)
-    i16[tid] = wp.int16(tid)
-    u16[tid] = wp.uint16(tid)
-    i32[tid] = wp.int32(tid)
-    u32[tid] = wp.uint32(tid)
-    i64[tid] = wp.int64(tid)
-    u64[tid] = wp.uint64(tid)
-    f32[tid] = wp.float32(tid)
-    f64[tid] = wp.float64(tid)
-
-    # check round-trip
-    wp.expect_eq(int(i8[tid]), tid)
-    wp.expect_eq(int(u8[tid]), tid)
-    wp.expect_eq(int(i16[tid]), tid)
-    wp.expect_eq(int(u16[tid]), tid)
-    wp.expect_eq(int(i32[tid]), tid)
-    wp.expect_eq(int(u32[tid]), tid)
-    wp.expect_eq(int(i64[tid]), tid)
-    wp.expect_eq(int(u64[tid]), tid)
-    wp.expect_eq(float(f32[tid]), float(tid))
-    wp.expect_eq(float(f64[tid]), float(tid))
-
-
-@wp.kernel
-def test_type_conversions():
-    # below tests auto-generated by the following snippet:
-
-    # scalar_types_all = [*wp.types.scalar_types, int, float]
-    # for t in scalar_types_all:
-    #     for u in scalar_types_all:
-
-    #         def prefix(t):
-    #             if t == int or t == float:
-    #                 return t.__name__
-    #             else:
-    #                 return "wp." + t.__name__
-
-    #         print(f"wp.expect_eq({prefix(t)}(2.0), {prefix(t)}({prefix(u)}(2.0)))")
-
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int8(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint8(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int16(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint16(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int32(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint32(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int64(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint64(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.float16(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.float32(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(wp.float64(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(int(2.0)))
-    wp.expect_eq(wp.int8(2.0), wp.int8(float(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int8(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint8(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int16(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint16(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int32(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint32(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int64(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint64(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.float16(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.float32(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.float64(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(int(2.0)))
-    wp.expect_eq(wp.uint8(2.0), wp.uint8(float(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int8(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint8(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int16(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint16(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int32(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint32(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int64(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint64(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.float16(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.float32(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(wp.float64(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(int(2.0)))
-    wp.expect_eq(wp.int16(2.0), wp.int16(float(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int8(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint8(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int16(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint16(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int32(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint32(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int64(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint64(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.float16(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.float32(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.float64(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(int(2.0)))
-    wp.expect_eq(wp.uint16(2.0), wp.uint16(float(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int8(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint8(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int16(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint16(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int32(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint32(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int64(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint64(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.float16(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.float32(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(wp.float64(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(int(2.0)))
-    wp.expect_eq(wp.int32(2.0), wp.int32(float(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int8(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint8(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int16(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint16(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int32(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint32(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int64(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint64(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.float16(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.float32(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.float64(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(int(2.0)))
-    wp.expect_eq(wp.uint32(2.0), wp.uint32(float(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int8(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint8(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int16(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint16(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int32(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint32(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int64(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint64(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.float16(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.float32(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(wp.float64(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(int(2.0)))
-    wp.expect_eq(wp.int64(2.0), wp.int64(float(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int8(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint8(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int16(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint16(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int32(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint32(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int64(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint64(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.float16(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.float32(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.float64(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(int(2.0)))
-    wp.expect_eq(wp.uint64(2.0), wp.uint64(float(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int8(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint8(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int16(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint16(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int32(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint32(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int64(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint64(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.float16(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.float32(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(wp.float64(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(int(2.0)))
-    wp.expect_eq(wp.float16(2.0), wp.float16(float(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int8(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint8(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int16(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint16(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int32(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint32(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int64(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint64(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.float16(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.float32(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(wp.float64(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(int(2.0)))
-    wp.expect_eq(wp.float32(2.0), wp.float32(float(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int8(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint8(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int16(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint16(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int32(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint32(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int64(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint64(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.float16(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.float32(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(wp.float64(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(int(2.0)))
-    wp.expect_eq(wp.float64(2.0), wp.float64(float(2.0)))
-    wp.expect_eq(int(2.0), int(wp.int8(2.0)))
-    wp.expect_eq(int(2.0), int(wp.uint8(2.0)))
-    wp.expect_eq(int(2.0), int(wp.int16(2.0)))
-    wp.expect_eq(int(2.0), int(wp.uint16(2.0)))
-    wp.expect_eq(int(2.0), int(wp.int32(2.0)))
-    wp.expect_eq(int(2.0), int(wp.uint32(2.0)))
-    wp.expect_eq(int(2.0), int(wp.int64(2.0)))
-    wp.expect_eq(int(2.0), int(wp.uint64(2.0)))
-    wp.expect_eq(int(2.0), int(wp.float16(2.0)))
-    wp.expect_eq(int(2.0), int(wp.float32(2.0)))
-    wp.expect_eq(int(2.0), int(wp.float64(2.0)))
-    wp.expect_eq(int(2.0), int(int(2.0)))
-    wp.expect_eq(int(2.0), int(float(2.0)))
-    wp.expect_eq(float(2.0), float(wp.int8(2.0)))
-    wp.expect_eq(float(2.0), float(wp.uint8(2.0)))
-    wp.expect_eq(float(2.0), float(wp.int16(2.0)))
-    wp.expect_eq(float(2.0), float(wp.uint16(2.0)))
-    wp.expect_eq(float(2.0), float(wp.int32(2.0)))
-    wp.expect_eq(float(2.0), float(wp.uint32(2.0)))
-    wp.expect_eq(float(2.0), float(wp.int64(2.0)))
-    wp.expect_eq(float(2.0), float(wp.uint64(2.0)))
-    wp.expect_eq(float(2.0), float(wp.float16(2.0)))
-    wp.expect_eq(float(2.0), float(wp.float32(2.0)))
-    wp.expect_eq(float(2.0), float(wp.float64(2.0)))
-    wp.expect_eq(float(2.0), float(int(2.0)))
-    wp.expect_eq(float(2.0), float(float(2.0)))
-
-
-def test_scalar_array_types(test, device, load, store):
-    dim = 64
-
-    i8 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int8), device=device)
-    u8 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint8), device=device)
-    i16 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int16), device=device)
-    u16 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint16), device=device)
-    i32 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int32), device=device)
-    u32 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint32), device=device)
-    i64 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int64), device=device)
-    u64 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint64), device=device)
-    f32 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.float32), device=device)
-    f64 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.float64), device=device)
-
-    if load:
-        wp.launch(
-            test_scalar_array_types_load,
-            dim=dim,
-            inputs=[i8, u8, i16, u16, i32, u32, i64, u64, f32, f64],
-            device=device,
-        )
-
-    if store:
-        wp.launch(
-            test_scalar_array_types_store,
-            dim=dim,
-            inputs=[i8, u8, i16, u16, i32, u32, i64, u64, f32, f64],
-            device=device,
-        )
-
-
-@wp.kernel
-def test_transform_matrix():
-    r = wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.5)
-    t = wp.vec3(0.25, 0.5, -0.75)
-    s = wp.vec3(2.0, 0.5, 0.75)
-
-    m = wp.mat44(t, r, s)
-
-    p = wp.vec3(1.0, 2.0, 3.0)
-
-    r_0 = wp.quat_rotate(r, wp.cw_mul(s, p)) + t
-    r_1 = wp.transform_point(m, p)
-
-    r_2 = wp.transform_vector(m, p)
-
-    wp.expect_near(r_0, r_1, 1.0e-4)
-    wp.expect_near(r_2, r_0 - t, 1.0e-4)
-
-
-devices = get_test_devices()
-
-
-class TestCTypes(unittest.TestCase):
-    pass
-
-
-inputs = [
-    wp.vec2(1.0, 2.0),
-    wp.vec3(1.0, 2.0, 3.0),
-    wp.vec4(1.0, 2.0, 3.0, 4.0),
-    wp.mat22(1.0, 2.0, 3.0, 4.0),
-    wp.mat33(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0),
-    wp.mat44(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0, 14.0, 15.0, 16.0),
-]
-
-add_function_test(TestCTypes, "test_mat22", test_mat22, devices=devices)
-add_function_test(TestCTypes, "test_mat33", test_mat33, devices=devices)
-add_function_test(TestCTypes, "test_mat44", test_mat44, devices=devices)
-add_kernel_test(
-    TestCTypes, name="test_transformation_constructor", kernel=test_transformation_constructor, dim=1, devices=devices
-)
-add_kernel_test(
-    TestCTypes, name="test_spatial_vector_constructor", kernel=test_spatial_vector_constructor, dim=1, devices=devices
-)
-add_kernel_test(
-    TestCTypes,
-    name="test_scalar_arg_types",
-    kernel=test_scalar_arg_types,
-    dim=1,
-    inputs=[-64, 255, -64, 255, -64, 255, -64, 255, 3.14159, 3.14159],
-    devices=devices,
-)
-add_kernel_test(
-    TestCTypes,
-    name="test_scalar_arg_types_explicit",
-    kernel=test_scalar_arg_types,
-    dim=1,
-    inputs=[
-        wp.int8(-64),
-        wp.uint8(255),
-        wp.int16(-64),
-        wp.uint16(255),
-        wp.int32(-64),
-        wp.uint32(255),
-        wp.int64(-64),
-        wp.uint64(255),
-        wp.float32(3.14159),
-        wp.float64(3.14159),
-    ],
-    devices=devices,
-)
-add_kernel_test(
-    TestCTypes, name="test_vector_arg_types", kernel=test_vector_arg_types, dim=1, inputs=inputs, devices=devices
-)
-add_kernel_test(TestCTypes, name="test_type_convesrions", kernel=test_type_conversions, dim=1, devices=devices)
-
-add_function_test(
-    TestCTypes, "test_scalar_array_load", test_scalar_array_types, devices=devices, load=True, store=False
-)
-add_function_test(
-    TestCTypes, "test_scalar_array_store", test_scalar_array_types, devices=devices, load=False, store=True
-)
-add_function_test(TestCTypes, "test_vec2_arg", test_vec2_arg, devices=devices, n=8)
-add_function_test(TestCTypes, "test_vec2_transform", test_vec2_transform, devices=devices, n=8)
-add_function_test(TestCTypes, "test_vec3_arg", test_vec3_arg, devices=devices, n=8)
-add_function_test(TestCTypes, "test_vec3_transform", test_vec3_transform, devices=devices, n=8)
-add_function_test(TestCTypes, "test_transform_multiply", test_transform_multiply, devices=devices, n=8)
-add_kernel_test(TestCTypes, name="test_transform_matrix", kernel=test_transform_matrix, dim=1, devices=devices)
-add_function_test(TestCTypes, "test_scalar_array", test_scalar_array, devices=devices)
-add_function_test(TestCTypes, "test_vector_array", test_vector_array, devices=devices)
-
-
-if __name__ == "__main__":
-    wp.build.clear_kernel_cache()
-    unittest.main(verbosity=2)
+# Copyright (c) 2022 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 unittest
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+wp.init()
+
+
+@wp.kernel
+def add_vec2(dest: wp.array(dtype=wp.vec2), c: wp.vec2):
+    tid = wp.tid()
+    dest[tid] = c
+
+
+@wp.kernel
+def transform_vec2(dest_right: wp.array(dtype=wp.vec2), dest_left: wp.array(dtype=wp.vec2), m: wp.mat22, v: wp.vec2):
+    tid = wp.tid()
+
+    dest_right[tid] = wp.mul(m, v)
+    dest_left[tid] = wp.mul(v, m)
+
+
+@wp.kernel
+def add_vec3(dest: wp.array(dtype=wp.vec3), c: wp.vec3):
+    tid = wp.tid()
+    dest[tid] = c
+
+
+@wp.kernel
+def transform_vec3(dest_right: wp.array(dtype=wp.vec3), dest_left: wp.array(dtype=wp.vec3), m: wp.mat33, v: wp.vec3):
+    tid = wp.tid()
+
+    dest_right[tid] = wp.mul(m, v)
+    dest_left[tid] = wp.mul(v, m)
+
+
+@wp.kernel
+def transform_multiply(xforms: wp.array(dtype=wp.transform), a: wp.transform):
+    tid = wp.tid()
+
+    xforms[tid] = wp.transform_multiply(xforms[tid], a)
+
+
+def test_vec2_arg(test, device, n):
+    dest = wp.zeros(n=n, dtype=wp.vec2, device=device)
+    c = np.array((1.0, 2.0))
+
+    wp.launch(add_vec2, dim=n, inputs=[dest, c], device=device)
+
+    # ensure type can round-trip from Python->GPU->Python
+    test.assertTrue(np.array_equal(dest.numpy(), np.tile(c, (n, 1))))
+
+
+def test_vec2_transform(test, device, n):
+    dest_right = wp.zeros(n=n, dtype=wp.vec2, device=device)
+    dest_left = wp.zeros(n=n, dtype=wp.vec2, device=device)
+    c = np.array((1.0, 2.0))
+    m = np.array(((3.0, -1.0), (2.5, 4.0)))
+
+    wp.launch(transform_vec2, dim=n, inputs=[dest_right, dest_left, m, c], device=device)
+    test.assertTrue(np.array_equal(dest_right.numpy(), np.tile(m @ c, (n, 1))))
+    test.assertTrue(np.array_equal(dest_left.numpy(), np.tile(c @ m, (n, 1))))
+
+
+def test_vec3_arg(test, device, n):
+    dest = wp.zeros(n=n, dtype=wp.vec3, device=device)
+    c = np.array((1.0, 2.0, 3.0))
+
+    wp.launch(add_vec3, dim=n, inputs=[dest, c], device=device)
+    test.assertTrue(np.array_equal(dest.numpy(), np.tile(c, (n, 1))))
+
+
+def test_vec3_transform(test, device, n):
+    dest_right = wp.zeros(n=n, dtype=wp.vec3, device=device)
+    dest_left = wp.zeros(n=n, dtype=wp.vec3, device=device)
+    c = np.array((1.0, 2.0, 3.0))
+    m = np.array(((1.0, 2.0, 3.0), (4.0, 5.0, 6.0), (7.0, 8.0, 9.0)))
+
+    wp.launch(transform_vec3, dim=n, inputs=[dest_right, dest_left, m, c], device=device)
+    test.assertTrue(np.array_equal(dest_right.numpy(), np.tile(m @ c, (n, 1))))
+    test.assertTrue(np.array_equal(dest_left.numpy(), np.tile(c @ m, (n, 1))))
+
+
+def test_transform_multiply(test, device, n):
+    a = wp.transform((0.0, 1.0, 0.0), wp.quat_identity())
+
+    x = []
+    for _i in range(10):
+        x.append(wp.transform_identity())
+
+    xforms = wp.array(x, dtype=wp.transform, device=device)
+    wp.launch(transform_multiply, dim=n, inputs=[xforms, a], device=device)
+
+
+transformf = wp.types.transformation(dtype=wp.float32)
+
+
+@wp.kernel
+def test_transformation_constructor():
+    a = wp.transformation(wp.vec3(0.0), wp.quat_identity())
+    b = transformf(wp.vec3(0.0), wp.quat_identity())
+    c = wp.transform_identity(dtype=wp.float64)
+
+
+spatial_vector = wp.types.vector(length=6, dtype=wp.float32)
+
+
+@wp.kernel
+def test_spatial_vector_constructor():
+    a = wp.spatial_vector(wp.vec3(0.0), wp.vec3(0.0))
+
+
+# construct kernel + test harness for given matrix / vector types
+def make_matrix_test(dim, matrix, vector):
+    def test_matrix_kernel(
+        a: wp.array(dtype=matrix),
+        b: wp.array(dtype=matrix),
+        c: wp.array(dtype=matrix),
+        x: wp.array(dtype=vector),
+        result_m: wp.array(dtype=matrix),
+        result_i: wp.array(dtype=matrix),
+        result_d: wp.array(dtype=float),
+        result_x: wp.array(dtype=vector),
+    ):
+        tid = wp.tid()
+
+        m = a[tid] * b[tid] + c[tid] * 2.0
+
+        result_m[tid] = m
+        result_x[tid] = m * x[tid]
+
+        result_d[tid] = wp.determinant(m)
+
+        invm = wp.inverse(m)
+        result_i[tid] = m * invm
+
+    # register a custom kernel (no decorator) function
+    # this lets us register the same function definition
+    # against multiple symbols, with different arg types
+    kernel = wp.Kernel(func=test_matrix_kernel, key=f"test_mat{dim}{dim}_kernel")
+
+    def test_matrix(test, device):
+        rng = np.random.default_rng(42)
+
+        n = 1024
+
+        a = rng.random(size=(n, dim, dim), dtype=float)
+        b = rng.random(size=(n, dim, dim), dtype=float)
+        c = rng.random(size=(n, dim, dim), dtype=float)
+        x = rng.random(size=(n, dim, 1), dtype=float)
+
+        a_array = wp.array(a, dtype=matrix, device=device)
+        b_array = wp.array(b, dtype=matrix, device=device)
+        c_array = wp.array(c, dtype=matrix, device=device)
+
+        x_array = wp.array(x, dtype=vector, device=device)
+
+        result_m_array = wp.zeros_like(a_array)
+        result_i_array = wp.zeros_like(a_array)
+        result_x_array = wp.zeros_like(x_array)
+        result_d_array = wp.zeros(n, dtype=float, device=device)
+
+        wp.launch(
+            kernel,
+            n,
+            inputs=[a_array, b_array, c_array, x_array, result_m_array, result_i_array, result_d_array, result_x_array],
+            device=device,
+        )
+
+        # numpy reference result
+        result_m = np.matmul(a, b) + c * 2.0
+        result_x = np.matmul(result_m, x)
+        result_i = np.array([np.eye(dim)] * n)
+        result_d = np.linalg.det(result_m)
+
+        assert_np_equal(result_m_array.numpy(), result_m, tol=1.0e-5)
+        assert_np_equal(result_i_array.numpy(), result_i, tol=1.0e-3)
+        assert_np_equal(result_d_array.numpy(), result_d, tol=1.0e-3)
+        assert_np_equal(result_x_array.numpy(), result_x, tol=1.0e-5)
+
+    return test_matrix
+
+
+# generate test functions for matrix types
+test_mat22 = make_matrix_test(2, wp.mat22, wp.vec2)
+test_mat33 = make_matrix_test(3, wp.mat33, wp.vec3)
+test_mat44 = make_matrix_test(4, wp.mat44, wp.vec4)
+
+
+def test_scalar_array(test, device):
+    scalar_list = (0.0, 1.0, 2.0)
+    scalar_array = wp.array(scalar_list, device=device)
+
+    assert_np_equal(np.array(scalar_list), scalar_array.numpy())
+
+
+def test_vector_array(test, device):
+    vector_list = [(0.0, 0.0, 0.0), (1.0, 1.0, 1.0), (2.0, 2.0, 2.0)]
+
+    vector_array = wp.array(vector_list, dtype=wp.vec3, device=device)
+
+    assert_np_equal(np.array(vector_list), vector_array.numpy())
+
+
+@wp.kernel
+def test_vector_arg_types(v2: wp.vec2, v3: wp.vec3, v4: wp.vec4, m22: wp.mat22, m33: wp.mat33, m44: wp.mat44):
+    wp.expect_eq(v2, wp.vec2(1.0, 2.0))
+    wp.expect_eq(v3, wp.vec3(1.0, 2.0, 3.0))
+    wp.expect_eq(v4, wp.vec4(1.0, 2.0, 3.0, 4.0))
+
+    wp.expect_eq(m22, wp.mat22(1.0, 2.0, 3.0, 4.0))
+
+    wp.expect_eq(m33, wp.mat33(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0))
+
+    wp.expect_eq(m44, wp.mat44(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0, 14.0, 15.0, 16.0))
+
+
+@wp.kernel
+def test_scalar_arg_types(
+    i8: wp.int8,
+    u8: wp.uint8,
+    i16: wp.int16,
+    u16: wp.uint16,
+    i32: wp.int32,
+    u32: wp.uint32,
+    i64: wp.int64,
+    u64: wp.uint64,
+    f32: wp.float32,
+    f64: wp.float64,
+):
+    wp.expect_eq(int(i8), -64)
+    wp.expect_eq(int(u8), 255)
+    wp.expect_eq(int(i16), -64)
+    wp.expect_eq(int(u16), 255)
+    wp.expect_eq(int(i32), -64)
+    wp.expect_eq(int(u32), 255)
+    wp.expect_eq(int(i64), -64)
+    wp.expect_eq(int(u64), 255)
+    wp.expect_eq(int(f32), 3)
+    wp.expect_eq(int(f64), 3)
+    wp.expect_eq(float(f32), 3.14159)
+    wp.expect_eq(float(f64), 3.14159)
+
+
+@wp.kernel
+def test_scalar_array_types_load(
+    i8: wp.array(dtype=wp.int8),
+    u8: wp.array(dtype=wp.uint8),
+    i16: wp.array(dtype=wp.int16),
+    u16: wp.array(dtype=wp.uint16),
+    i32: wp.array(dtype=wp.int32),
+    u32: wp.array(dtype=wp.uint32),
+    i64: wp.array(dtype=wp.int64),
+    u64: wp.array(dtype=wp.uint64),
+    f32: wp.array(dtype=wp.float32),
+    f64: wp.array(dtype=wp.float64),
+):
+    tid = wp.tid()
+
+    wp.expect_eq(int(i8[tid]), tid)
+    wp.expect_eq(int(u8[tid]), tid)
+    wp.expect_eq(int(i16[tid]), tid)
+    wp.expect_eq(int(u16[tid]), tid)
+    wp.expect_eq(int(i32[tid]), tid)
+    wp.expect_eq(int(u32[tid]), tid)
+    wp.expect_eq(int(i64[tid]), tid)
+    wp.expect_eq(int(u64[tid]), tid)
+    wp.expect_eq(float(f32[tid]), float(tid))
+    wp.expect_eq(float(f64[tid]), float(tid))
+
+
+@wp.kernel
+def test_scalar_array_types_store(
+    i8: wp.array(dtype=wp.int8),
+    u8: wp.array(dtype=wp.uint8),
+    i16: wp.array(dtype=wp.int16),
+    u16: wp.array(dtype=wp.uint16),
+    i32: wp.array(dtype=wp.int32),
+    u32: wp.array(dtype=wp.uint32),
+    i64: wp.array(dtype=wp.int64),
+    u64: wp.array(dtype=wp.uint64),
+    f32: wp.array(dtype=wp.float32),
+    f64: wp.array(dtype=wp.float64),
+):
+    tid = wp.tid()
+
+    i8[tid] = wp.int8(tid)
+    u8[tid] = wp.uint8(tid)
+    i16[tid] = wp.int16(tid)
+    u16[tid] = wp.uint16(tid)
+    i32[tid] = wp.int32(tid)
+    u32[tid] = wp.uint32(tid)
+    i64[tid] = wp.int64(tid)
+    u64[tid] = wp.uint64(tid)
+    f32[tid] = wp.float32(tid)
+    f64[tid] = wp.float64(tid)
+
+    # check round-trip
+    wp.expect_eq(int(i8[tid]), tid)
+    wp.expect_eq(int(u8[tid]), tid)
+    wp.expect_eq(int(i16[tid]), tid)
+    wp.expect_eq(int(u16[tid]), tid)
+    wp.expect_eq(int(i32[tid]), tid)
+    wp.expect_eq(int(u32[tid]), tid)
+    wp.expect_eq(int(i64[tid]), tid)
+    wp.expect_eq(int(u64[tid]), tid)
+    wp.expect_eq(float(f32[tid]), float(tid))
+    wp.expect_eq(float(f64[tid]), float(tid))
+
+
+@wp.kernel
+def test_type_conversions():
+    # below tests auto-generated by the following snippet:
+
+    # scalar_types_all = [*wp.types.scalar_types, int, float]
+    # for t in scalar_types_all:
+    #     for u in scalar_types_all:
+
+    #         def prefix(t):
+    #             if t == int or t == float:
+    #                 return t.__name__
+    #             else:
+    #                 return "wp." + t.__name__
+
+    #         print(f"wp.expect_eq({prefix(t)}(2.0), {prefix(t)}({prefix(u)}(2.0)))")
+
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int8(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint8(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int16(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint16(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int32(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint32(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.int64(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.uint64(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.float16(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.float32(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(wp.float64(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(int(2.0)))
+    wp.expect_eq(wp.int8(2.0), wp.int8(float(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int8(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint8(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int16(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint16(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int32(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint32(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.int64(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.uint64(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.float16(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.float32(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(wp.float64(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(int(2.0)))
+    wp.expect_eq(wp.uint8(2.0), wp.uint8(float(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int8(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint8(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int16(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint16(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int32(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint32(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.int64(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.uint64(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.float16(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.float32(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(wp.float64(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(int(2.0)))
+    wp.expect_eq(wp.int16(2.0), wp.int16(float(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int8(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint8(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int16(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint16(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int32(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint32(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.int64(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.uint64(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.float16(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.float32(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(wp.float64(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(int(2.0)))
+    wp.expect_eq(wp.uint16(2.0), wp.uint16(float(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int8(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint8(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int16(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint16(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int32(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint32(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.int64(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.uint64(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.float16(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.float32(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(wp.float64(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(int(2.0)))
+    wp.expect_eq(wp.int32(2.0), wp.int32(float(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int8(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint8(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int16(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint16(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int32(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint32(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.int64(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.uint64(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.float16(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.float32(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(wp.float64(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(int(2.0)))
+    wp.expect_eq(wp.uint32(2.0), wp.uint32(float(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int8(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint8(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int16(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint16(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int32(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint32(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.int64(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.uint64(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.float16(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.float32(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(wp.float64(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(int(2.0)))
+    wp.expect_eq(wp.int64(2.0), wp.int64(float(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int8(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint8(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int16(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint16(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int32(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint32(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.int64(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.uint64(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.float16(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.float32(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(wp.float64(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(int(2.0)))
+    wp.expect_eq(wp.uint64(2.0), wp.uint64(float(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int8(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint8(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int16(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint16(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int32(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint32(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.int64(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.uint64(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.float16(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.float32(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(wp.float64(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(int(2.0)))
+    wp.expect_eq(wp.float16(2.0), wp.float16(float(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int8(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint8(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int16(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint16(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int32(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint32(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.int64(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.uint64(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.float16(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.float32(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(wp.float64(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(int(2.0)))
+    wp.expect_eq(wp.float32(2.0), wp.float32(float(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int8(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint8(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int16(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint16(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int32(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint32(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.int64(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.uint64(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.float16(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.float32(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(wp.float64(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(int(2.0)))
+    wp.expect_eq(wp.float64(2.0), wp.float64(float(2.0)))
+    wp.expect_eq(int(2.0), int(wp.int8(2.0)))
+    wp.expect_eq(int(2.0), int(wp.uint8(2.0)))
+    wp.expect_eq(int(2.0), int(wp.int16(2.0)))
+    wp.expect_eq(int(2.0), int(wp.uint16(2.0)))
+    wp.expect_eq(int(2.0), int(wp.int32(2.0)))
+    wp.expect_eq(int(2.0), int(wp.uint32(2.0)))
+    wp.expect_eq(int(2.0), int(wp.int64(2.0)))
+    wp.expect_eq(int(2.0), int(wp.uint64(2.0)))
+    wp.expect_eq(int(2.0), int(wp.float16(2.0)))
+    wp.expect_eq(int(2.0), int(wp.float32(2.0)))
+    wp.expect_eq(int(2.0), int(wp.float64(2.0)))
+    wp.expect_eq(int(2.0), int(int(2.0)))
+    wp.expect_eq(int(2.0), int(float(2.0)))
+    wp.expect_eq(float(2.0), float(wp.int8(2.0)))
+    wp.expect_eq(float(2.0), float(wp.uint8(2.0)))
+    wp.expect_eq(float(2.0), float(wp.int16(2.0)))
+    wp.expect_eq(float(2.0), float(wp.uint16(2.0)))
+    wp.expect_eq(float(2.0), float(wp.int32(2.0)))
+    wp.expect_eq(float(2.0), float(wp.uint32(2.0)))
+    wp.expect_eq(float(2.0), float(wp.int64(2.0)))
+    wp.expect_eq(float(2.0), float(wp.uint64(2.0)))
+    wp.expect_eq(float(2.0), float(wp.float16(2.0)))
+    wp.expect_eq(float(2.0), float(wp.float32(2.0)))
+    wp.expect_eq(float(2.0), float(wp.float64(2.0)))
+    wp.expect_eq(float(2.0), float(int(2.0)))
+    wp.expect_eq(float(2.0), float(float(2.0)))
+
+
+def test_scalar_array_types(test, device, load, store):
+    dim = 64
+
+    i8 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int8), device=device)
+    u8 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint8), device=device)
+    i16 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int16), device=device)
+    u16 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint16), device=device)
+    i32 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int32), device=device)
+    u32 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint32), device=device)
+    i64 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.int64), device=device)
+    u64 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.uint64), device=device)
+    f32 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.float32), device=device)
+    f64 = wp.array(np.linspace(0, dim, dim, endpoint=False, dtype=np.float64), device=device)
+
+    if load:
+        wp.launch(
+            test_scalar_array_types_load,
+            dim=dim,
+            inputs=[i8, u8, i16, u16, i32, u32, i64, u64, f32, f64],
+            device=device,
+        )
+
+    if store:
+        wp.launch(
+            test_scalar_array_types_store,
+            dim=dim,
+            inputs=[i8, u8, i16, u16, i32, u32, i64, u64, f32, f64],
+            device=device,
+        )
+
+
+@wp.kernel
+def test_transform_matrix():
+    r = wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.5)
+    t = wp.vec3(0.25, 0.5, -0.75)
+    s = wp.vec3(2.0, 0.5, 0.75)
+
+    m = wp.mat44(t, r, s)
+
+    p = wp.vec3(1.0, 2.0, 3.0)
+
+    r_0 = wp.quat_rotate(r, wp.cw_mul(s, p)) + t
+    r_1 = wp.transform_point(m, p)
+
+    r_2 = wp.transform_vector(m, p)
+
+    wp.expect_near(r_0, r_1, 1.0e-4)
+    wp.expect_near(r_2, r_0 - t, 1.0e-4)
+
+
+devices = get_test_devices()
+
+
+class TestCTypes(unittest.TestCase):
+    pass
+
+
+inputs = [
+    wp.vec2(1.0, 2.0),
+    wp.vec3(1.0, 2.0, 3.0),
+    wp.vec4(1.0, 2.0, 3.0, 4.0),
+    wp.mat22(1.0, 2.0, 3.0, 4.0),
+    wp.mat33(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0),
+    wp.mat44(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0, 13.0, 14.0, 15.0, 16.0),
+]
+
+add_function_test(TestCTypes, "test_mat22", test_mat22, devices=devices)
+add_function_test(TestCTypes, "test_mat33", test_mat33, devices=devices)
+add_function_test(TestCTypes, "test_mat44", test_mat44, devices=devices)
+add_kernel_test(
+    TestCTypes, name="test_transformation_constructor", kernel=test_transformation_constructor, dim=1, devices=devices
+)
+add_kernel_test(
+    TestCTypes, name="test_spatial_vector_constructor", kernel=test_spatial_vector_constructor, dim=1, devices=devices
+)
+add_kernel_test(
+    TestCTypes,
+    name="test_scalar_arg_types",
+    kernel=test_scalar_arg_types,
+    dim=1,
+    inputs=[-64, 255, -64, 255, -64, 255, -64, 255, 3.14159, 3.14159],
+    devices=devices,
+)
+add_kernel_test(
+    TestCTypes,
+    name="test_scalar_arg_types_explicit",
+    kernel=test_scalar_arg_types,
+    dim=1,
+    inputs=[
+        wp.int8(-64),
+        wp.uint8(255),
+        wp.int16(-64),
+        wp.uint16(255),
+        wp.int32(-64),
+        wp.uint32(255),
+        wp.int64(-64),
+        wp.uint64(255),
+        wp.float32(3.14159),
+        wp.float64(3.14159),
+    ],
+    devices=devices,
+)
+add_kernel_test(
+    TestCTypes, name="test_vector_arg_types", kernel=test_vector_arg_types, dim=1, inputs=inputs, devices=devices
+)
+add_kernel_test(TestCTypes, name="test_type_convesrions", kernel=test_type_conversions, dim=1, devices=devices)
+
+add_function_test(
+    TestCTypes, "test_scalar_array_load", test_scalar_array_types, devices=devices, load=True, store=False
+)
+add_function_test(
+    TestCTypes, "test_scalar_array_store", test_scalar_array_types, devices=devices, load=False, store=True
+)
+add_function_test(TestCTypes, "test_vec2_arg", test_vec2_arg, devices=devices, n=8)
+add_function_test(TestCTypes, "test_vec2_transform", test_vec2_transform, devices=devices, n=8)
+add_function_test(TestCTypes, "test_vec3_arg", test_vec3_arg, devices=devices, n=8)
+add_function_test(TestCTypes, "test_vec3_transform", test_vec3_transform, devices=devices, n=8)
+add_function_test(TestCTypes, "test_transform_multiply", test_transform_multiply, devices=devices, n=8)
+add_kernel_test(TestCTypes, name="test_transform_matrix", kernel=test_transform_matrix, dim=1, devices=devices)
+add_function_test(TestCTypes, "test_scalar_array", test_scalar_array, devices=devices)
+add_function_test(TestCTypes, "test_vector_array", test_vector_array, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)