warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.2.0__py3-none-manylinux2014_x86_64.whl

warp/tests/test_mesh_query_point.py

@@ -1,702 +1,690 @@
-# 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 math
-import unittest
-
-import numpy as np
-
-import warp as wp
-from warp.tests.unittest_utils import *
-
-wp.init()
-
-
-@wp.kernel
-def sample_mesh_query(
-    mesh: wp.uint64,
-    query_points: wp.array(dtype=wp.vec3),
-    query_faces: wp.array(dtype=int),
-    query_signs: wp.array(dtype=float),
-    query_dist: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-    sign = float(0.0)
-
-    max_dist = 10012.0
-
-    p = query_points[tid]
-
-    wp.mesh_query_point(mesh, p, max_dist, sign, face_index, face_u, face_v)
-
-    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-
-    query_signs[tid] = sign
-    query_faces[tid] = face_index
-    query_dist[tid] = wp.length(cp - p)
-
-    query = wp.mesh_query_point(mesh, p, max_dist)
-    wp.expect_eq(query.sign, sign)
-    wp.expect_eq(query.face, face_index)
-    wp.expect_eq(query.u, face_u)
-    wp.expect_eq(query.v, face_v)
-
-
-@wp.kernel
-def sample_mesh_query_no_sign(
-    mesh: wp.uint64,
-    query_points: wp.array(dtype=wp.vec3),
-    query_faces: wp.array(dtype=int),
-    query_dist: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-
-    max_dist = 10012.0
-
-    p = query_points[tid]
-
-    wp.mesh_query_point_no_sign(mesh, p, max_dist, face_index, face_u, face_v)
-
-    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-
-    query_faces[tid] = face_index
-    query_dist[tid] = wp.length(cp - p)
-
-    query = wp.mesh_query_point_no_sign(mesh, p, max_dist)
-    wp.expect_eq(query.face, face_index)
-    wp.expect_eq(query.u, face_u)
-    wp.expect_eq(query.v, face_v)
-
-
-@wp.kernel
-def sample_mesh_query_sign_normal(
-    mesh: wp.uint64,
-    query_points: wp.array(dtype=wp.vec3),
-    query_faces: wp.array(dtype=int),
-    query_signs: wp.array(dtype=float),
-    query_dist: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-    sign = float(0.0)
-
-    max_dist = 10012.0
-
-    p = query_points[tid]
-
-    wp.mesh_query_point_sign_normal(mesh, p, max_dist, sign, face_index, face_u, face_v)
-
-    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-
-    query_signs[tid] = sign
-    query_faces[tid] = face_index
-    query_dist[tid] = wp.length(cp - p)
-
-    query = wp.mesh_query_point_sign_normal(mesh, p, max_dist)
-    wp.expect_eq(query.sign, sign)
-    wp.expect_eq(query.face, face_index)
-    wp.expect_eq(query.u, face_u)
-    wp.expect_eq(query.v, face_v)
-
-
-@wp.kernel
-def sample_mesh_query_sign_winding_number(
-    mesh: wp.uint64,
-    query_points: wp.array(dtype=wp.vec3),
-    query_faces: wp.array(dtype=int),
-    query_signs: wp.array(dtype=float),
-    query_dist: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-    sign = float(0.0)
-
-    max_dist = 10012.0
-
-    p = query_points[tid]
-
-    wp.mesh_query_point_sign_winding_number(mesh, p, max_dist, sign, face_index, face_u, face_v)
-
-    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-
-    query_signs[tid] = sign
-    query_faces[tid] = face_index
-    query_dist[tid] = wp.length(cp - p)
-
-    query = wp.mesh_query_point_sign_winding_number(mesh, p, max_dist)
-    wp.expect_eq(query.sign, sign)
-    wp.expect_eq(query.face, face_index)
-    wp.expect_eq(query.u, face_u)
-    wp.expect_eq(query.v, face_v)
-
-
-@wp.func
-def triangle_closest_point(a: wp.vec3, b: wp.vec3, c: wp.vec3, p: wp.vec3):
-    ab = b - a
-    ac = c - a
-    ap = p - a
-
-    d1 = wp.dot(ab, ap)
-    d2 = wp.dot(ac, ap)
-
-    if d1 <= 0.0 and d2 <= 0.0:
-        return wp.vec2(1.0, 0.0)
-
-    bp = p - b
-    d3 = wp.dot(ab, bp)
-    d4 = wp.dot(ac, bp)
-
-    if d3 >= 0.0 and d4 <= d3:
-        return wp.vec2(0.0, 1.0)
-
-    vc = d1 * d4 - d3 * d2
-    v = d1 / (d1 - d3)
-    if vc <= 0.0 and d1 >= 0.0 and d3 <= 0.0:
-        return wp.vec2(1.0 - v, v)
-
-    cp = p - c
-    d5 = wp.dot(ab, cp)
-    d6 = wp.dot(ac, cp)
-
-    if d6 >= 0.0 and d5 <= d6:
-        return wp.vec2(0.0, 0.0)
-
-    vb = d5 * d2 - d1 * d6
-    w = d2 / (d2 - d6)
-    if vb <= 0.0 and d2 >= 0.0 and d6 <= 0.0:
-        return wp.vec2(1.0 - w, 0.0)
-
-    va = d3 * d6 - d5 * d4
-    w = (d4 - d3) / ((d4 - d3) + (d5 - d6))
-    if va <= 0.0 and (d4 - d3) >= 0.0 and (d5 - d6) >= 0.0:
-        return wp.vec2(0.0, 1.0 - w)
-
-    denom = 1.0 / (va + vb + vc)
-    v = vb * denom
-    w = vc * denom
-    u = 1.0 - v - w
-
-    return wp.vec2(u, v)
-
-
-@wp.func
-def solid_angle(v0: wp.vec3, v1: wp.vec3, v2: wp.vec3, p: wp.vec3):
-    a = v0 - p
-    b = v1 - p
-    c = v2 - p
-
-    a_len = wp.length(a)
-    b_len = wp.length(b)
-    c_len = wp.length(c)
-
-    det = wp.dot(a, wp.cross(b, c))
-    den = a_len * b_len * c_len + wp.dot(a, b) * c_len + wp.dot(b, c) * a_len + wp.dot(c, a) * b_len
-
-    return 2.0 * wp.atan2(det, den)
-
-
-@wp.kernel
-def sample_mesh_brute(
-    tri_points: wp.array(dtype=wp.vec3),
-    tri_indices: wp.array(dtype=int),
-    tri_count: int,
-    query_points: wp.array(dtype=wp.vec3),
-    query_faces: wp.array(dtype=int),
-    query_signs: wp.array(dtype=float),
-    query_dist: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    min_face = int(0)
-    min_dist = float(1.0e6)
-
-    sum_solid_angle = float(0.0)
-
-    p = query_points[tid]
-
-    for i in range(0, tri_count):
-        a = tri_points[tri_indices[i * 3 + 0]]
-        b = tri_points[tri_indices[i * 3 + 1]]
-        c = tri_points[tri_indices[i * 3 + 2]]
-
-        sum_solid_angle += solid_angle(a, b, c, p)
-
-        bary = triangle_closest_point(a, b, c, p)
-        u = bary[0]
-        v = bary[1]
-
-        cp = u * a + v * b + (1.0 - u - v) * c
-        cp_dist = wp.length(cp - p)
-
-        if cp_dist < min_dist:
-            min_dist = cp_dist
-            min_face = i
-
-    # for an inside point, the sum of the solid angle should be 4PI
-    # for an outside point, the sum should be 0
-    query_faces[tid] = min_face
-    query_signs[tid] = sum_solid_angle
-    query_dist[tid] = min_dist
-
-
-# constructs a grid of evenly spaced particles
-def particle_grid(dim_x, dim_y, dim_z, lower, radius, jitter):
-    rng = np.random.default_rng(123)
-
-    points = np.meshgrid(np.linspace(0, dim_x, dim_x), np.linspace(0, dim_y, dim_y), np.linspace(0, dim_z, dim_z))
-    points_t = np.array((points[0], points[1], points[2])).T * radius * 2.0 + np.array(lower)
-    points_t = points_t + rng.random(points_t.shape) * radius * jitter
-
-    return points_t.reshape((-1, 3))
-
-
-# triangulate a list of polygon face indices
-def triangulate(face_counts, face_indices):
-    num_tris = np.sum(np.subtract(face_counts, 2))
-    num_tri_vtx = num_tris * 3
-    tri_indices = np.zeros(num_tri_vtx, dtype=int)
-    ctr = 0
-    wedgeIdx = 0
-
-    for nb in face_counts:
-        for i in range(nb - 2):
-            tri_indices[ctr] = face_indices[wedgeIdx]
-            tri_indices[ctr + 1] = face_indices[wedgeIdx + i + 1]
-            tri_indices[ctr + 2] = face_indices[wedgeIdx + i + 2]
-            ctr += 3
-        wedgeIdx += nb
-
-    return tri_indices
-
-
-@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
-def test_mesh_query_point(test, device):
-    from pxr import Usd, UsdGeom
-
-    mesh = Usd.Stage.Open(os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/spiky.usd")))
-    mesh_geom = UsdGeom.Mesh(mesh.GetPrimAtPath("/Cube/Cube"))
-
-    mesh_counts = mesh_geom.GetFaceVertexCountsAttr().Get()
-    mesh_indices = mesh_geom.GetFaceVertexIndicesAttr().Get()
-
-    tri_indices = triangulate(mesh_counts, mesh_indices)
-
-    mesh_points = wp.array(np.array(mesh_geom.GetPointsAttr().Get()), dtype=wp.vec3, device=device)
-    mesh_indices = wp.array(np.array(tri_indices), dtype=int, device=device)
-
-    # create mesh
-    mesh = wp.Mesh(points=mesh_points, velocities=None, indices=mesh_indices, support_winding_number=True)
-
-    p = particle_grid(32, 32, 32, np.array([-1.1, -1.1, -1.1]), 0.05, 0.0)
-
-    query_count = len(p)
-    query_points = wp.array(p, dtype=wp.vec3, device=device)
-
-    signs_query = wp.zeros(query_count, dtype=float, device=device)
-    faces_query = wp.zeros(query_count, dtype=int, device=device)
-    dist_query = wp.zeros(query_count, dtype=float, device=device)
-
-    faces_query_no_sign = wp.zeros(query_count, dtype=int, device=device)
-    dist_query_no_sign = wp.zeros(query_count, dtype=float, device=device)
-
-    signs_query_normal = wp.zeros(query_count, dtype=float, device=device)
-    faces_query_normal = wp.zeros(query_count, dtype=int, device=device)
-    dist_query_normal = wp.zeros(query_count, dtype=float, device=device)
-
-    signs_query_winding_number = wp.zeros(query_count, dtype=float, device=device)
-    faces_query_winding_number = wp.zeros(query_count, dtype=int, device=device)
-    dist_query_winding_number = wp.zeros(query_count, dtype=float, device=device)
-
-    signs_brute = wp.zeros(query_count, dtype=float, device=device)
-    faces_brute = wp.zeros(query_count, dtype=int, device=device)
-    dist_brute = wp.zeros(query_count, dtype=float, device=device)
-
-    wp.launch(
-        kernel=sample_mesh_query,
-        dim=query_count,
-        inputs=[mesh.id, query_points, faces_query, signs_query, dist_query],
-        device=device,
-    )
-
-    wp.launch(
-        kernel=sample_mesh_query_no_sign,
-        dim=query_count,
-        inputs=[mesh.id, query_points, faces_query_no_sign, dist_query_no_sign],
-        device=device,
-    )
-
-    wp.launch(
-        kernel=sample_mesh_query_sign_normal,
-        dim=query_count,
-        inputs=[mesh.id, query_points, faces_query_normal, signs_query_normal, dist_query_normal],
-        device=device,
-    )
-
-    wp.launch(
-        kernel=sample_mesh_query_sign_winding_number,
-        dim=query_count,
-        inputs=[
-            mesh.id,
-            query_points,
-            faces_query_winding_number,
-            signs_query_winding_number,
-            dist_query_winding_number,
-        ],
-        device=device,
-    )
-
-    wp.launch(
-        kernel=sample_mesh_brute,
-        dim=query_count,
-        inputs=[
-            mesh_points,
-            mesh_indices,
-            int(len(mesh_indices) / 3),
-            query_points,
-            faces_brute,
-            signs_brute,
-            dist_brute,
-        ],
-        device=device,
-    )
-
-    signs_query = signs_query.numpy()
-    faces_query = faces_query.numpy()
-    dist_query = dist_query.numpy()
-
-    faces_query_no_sign = faces_query_no_sign.numpy()
-    dist_query_no_sign = dist_query_no_sign.numpy()
-
-    signs_query_normal = signs_query_normal.numpy()
-    faces_query_normal = faces_query_normal.numpy()
-    dist_query_normal = dist_query_normal.numpy()
-
-    signs_query_winding_number = signs_query_winding_number.numpy()
-    faces_query_winding_number = faces_query_winding_number.numpy()
-    dist_query_winding_number = dist_query_winding_number.numpy()
-
-    signs_brute = signs_brute.numpy()
-    faces_brute = faces_brute.numpy()
-    dist_brute = dist_brute.numpy()
-
-    query_points = query_points.numpy()
-
-    inside_query = [[0.0, 0.0, 0.0]]
-    inside_query_normal = [[0.0, 0.0, 0.0]]
-    inside_query_winding_number = [[0.0, 0.0, 0.0]]
-    inside_brute = [[0.0, 0.0, 0.0]]
-
-    for i in range(query_count):
-        if signs_query[i] < 0.0:
-            inside_query.append(query_points[i].tolist())
-
-        if signs_query_normal[i] < 0.0:
-            inside_query_normal.append(query_points[i].tolist())
-
-        if signs_query_winding_number[i] < 0.0:
-            inside_query_winding_number.append(query_points[i].tolist())
-
-        if signs_brute[i] > math.pi * 2.0:
-            inside_brute.append(query_points[i].tolist())
-
-    inside_query = np.array(inside_query)
-    inside_query_normal = np.array(inside_query_normal)
-    inside_query_winding_number = np.array(inside_query_winding_number)
-    inside_brute = np.array(inside_brute)
-
-    # import warp.render
-
-    # stage = warp.render.UsdRenderer("tests/outputs/test_mesh_query_point.usd")
-
-    # radius = 0.1
-    # stage.begin_frame(0.0)
-    # stage.render_mesh(points=mesh_points.numpy(), indices=mesh_indices.numpy(), name="mesh")
-    # stage.render_points(points=inside_query, radius=radius, name="query")
-    # stage.render_points(points=inside_brute, radius=radius, name="brute")
-    # stage.render_points(points=query_points, radius=radius, name="all")
-    # stage.end_frame()
-
-    # stage.save()
-
-    test.assertTrue(len(inside_query) == len(inside_brute))
-    test.assertTrue(len(inside_query_normal) == len(inside_brute))
-    test.assertTrue(len(inside_query_winding_number) == len(inside_brute))
-
-    tolerance = 1.5e-4
-    dist_error = np.max(np.abs(dist_query - dist_brute))
-    sign_error = np.max(np.abs(inside_query - inside_brute))
-
-    test.assertTrue(dist_error < tolerance, f"mesh_query_point dist_error is {dist_error} which is >= {tolerance}")
-    test.assertTrue(sign_error < tolerance, f"mesh_query_point sign_error is {sign_error} which is >= {tolerance}")
-
-    dist_error = np.max(np.abs(dist_query_no_sign - dist_brute))
-
-    test.assertTrue(
-        dist_error < tolerance, f"mesh_query_point_no_sign dist_error is {dist_error} which is >= {tolerance}"
-    )
-
-    dist_error = np.max(np.abs(dist_query_normal - dist_brute))
-    sign_error = np.max(np.abs(inside_query_normal - inside_brute))
-
-    test.assertTrue(
-        dist_error < tolerance, f"mesh_query_point_sign_normal dist_error is {dist_error} which is >= {tolerance}"
-    )
-    test.assertTrue(
-        sign_error < tolerance, f"mesh_query_point_sign_normal sign_error is {sign_error} which is >= {tolerance}"
-    )
-
-    dist_error = np.max(np.abs(dist_query_winding_number - dist_brute))
-    sign_error = np.max(np.abs(inside_query_winding_number - inside_brute))
-
-    test.assertTrue(
-        dist_error < tolerance,
-        f"mesh_query_point_sign_winding_number dist_error is {dist_error} which is >= {tolerance}",
-    )
-    test.assertTrue(
-        sign_error < tolerance,
-        f"mesh_query_point_sign_winding_number sign_error is {sign_error} which is >= {tolerance}",
-    )
-
-
-@wp.kernel
-def mesh_query_point_loss(
-    mesh: wp.uint64,
-    query_points: wp.array(dtype=wp.vec3),
-    projected_points: wp.array(dtype=wp.vec3),
-    loss: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    face_index = int(0)
-    face_u = float(0.0)
-    face_v = float(0.0)
-    sign = float(0.0)
-
-    max_dist = 10012.0
-
-    p = query_points[tid]
-
-    wp.mesh_query_point(mesh, p, max_dist, sign, face_index, face_u, face_v)
-    q = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
-
-    projected_points[tid] = q
-
-    dist = wp.length(wp.sub(p, q))
-    loss[tid] = dist
-
-
-@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
-def test_adj_mesh_query_point(test, device):
-    from pxr import Usd, UsdGeom
-
-    mesh = Usd.Stage.Open(os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/torus.usda")))
-    mesh_geom = UsdGeom.Mesh(mesh.GetPrimAtPath("/World/Torus"))
-
-    mesh_counts = mesh_geom.GetFaceVertexCountsAttr().Get()
-    mesh_indices = mesh_geom.GetFaceVertexIndicesAttr().Get()
-
-    tri_indices = triangulate(mesh_counts, mesh_indices)
-
-    mesh_points = wp.array(np.array(mesh_geom.GetPointsAttr().Get()), dtype=wp.vec3, device=device)
-    mesh_indices = wp.array(np.array(tri_indices), dtype=int, device=device)
-
-    # test tri
-    # print("Testing Single Triangle")
-    # mesh_points = wp.array(np.array([[0.0, 0.0, 0.0], [2.0, 0.0, 0.0], [0.0, 2.0, 0.0]]), dtype=wp.vec3, device=device)
-    # mesh_indices = wp.array(np.array([0,1,2]), dtype=int, device=device)
-
-    # create mesh
-    mesh = wp.Mesh(points=mesh_points, velocities=None, indices=mesh_indices, support_winding_number=True)
-
-    # p = particle_grid(32, 32, 32, np.array([-5.0, -5.0, -5.0]), 0.1, 0.1)*100.0
-    p = wp.vec3(50.0, 50.0, 50.0)
-
-    tape = wp.Tape()
-
-    # analytic gradients
-    with tape:
-        query_points = wp.array(p, dtype=wp.vec3, device=device, requires_grad=True)
-        projected_points = wp.zeros(n=1, dtype=wp.vec3, device=device)
-        loss = wp.zeros(n=1, dtype=float, device=device, requires_grad=True)
-
-        wp.launch(
-            kernel=mesh_query_point_loss, dim=1, inputs=[mesh.id, query_points, projected_points, loss], device=device
-        )
-
-    tape.backward(loss=loss)
-    analytic = tape.gradients[query_points].numpy().flatten()
-
-    # numeric gradients
-    eps = 1.0e-3
-    loss_values = []
-    numeric = np.zeros(3)
-
-    offset_query_points = [
-        wp.vec3(p[0] - eps, p[1], p[2]),
-        wp.vec3(p[0] + eps, p[1], p[2]),
-        wp.vec3(p[0], p[1] - eps, p[2]),
-        wp.vec3(p[0], p[1] + eps, p[2]),
-        wp.vec3(p[0], p[1], p[2] - eps),
-        wp.vec3(p[0], p[1], p[2] + eps),
-    ]
-
-    for i in range(6):
-        q = offset_query_points[i]
-
-        query_points = wp.array(q, dtype=wp.vec3, device=device)
-        projected_points = wp.zeros(n=1, dtype=wp.vec3, device=device)
-        loss = wp.zeros(n=1, dtype=float, device=device)
-
-        wp.launch(
-            kernel=mesh_query_point_loss, dim=1, inputs=[mesh.id, query_points, projected_points, loss], device=device
-        )
-
-        loss_values.append(loss.numpy()[0])
-
-    for i in range(3):
-        l_0 = loss_values[i * 2]
-        l_1 = loss_values[i * 2 + 1]
-        gradient = (l_1 - l_0) / (2.0 * eps)
-        numeric[i] = gradient
-
-    error = ((analytic - numeric) * (analytic - numeric)).sum(axis=0)
-
-    tolerance = 1.0e-3
-    test.assertTrue(error < tolerance, f"error is {error} which is >= {tolerance}")
-
-
-@wp.kernel
-def sample_furthest_points(mesh: wp.uint64, query_points: wp.array(dtype=wp.vec3), query_result: wp.array(dtype=float)):
-    tid = wp.tid()
-
-    p = query_points[tid]
-
-    face = int(0)
-    bary_u = float(0.0)
-    bary_v = float(0.0)
-
-    if wp.mesh_query_furthest_point_no_sign(mesh, p, 0.0, face, bary_u, bary_v):
-        closest = wp.mesh_eval_position(mesh, face, bary_u, bary_v)
-
-        query_result[tid] = wp.length_sq(p - closest)
-
-    query = wp.mesh_query_furthest_point_no_sign(mesh, p, 0.0)
-    wp.expect_eq(query.face, face)
-    wp.expect_eq(query.u, bary_u)
-    wp.expect_eq(query.v, bary_v)
-
-
-@wp.kernel
-def sample_furthest_points_brute(
-    mesh_points: wp.array(dtype=wp.vec3), query_points: wp.array(dtype=wp.vec3), query_result: wp.array(dtype=float)
-):
-    tid = wp.tid()
-
-    p = query_points[tid]
-    max_dist_sq = float(0.0)
-
-    for i in range(mesh_points.shape[0]):
-        dist_sq = wp.length_sq(p - mesh_points[i])
-
-        if dist_sq > max_dist_sq:
-            max_dist_sq = dist_sq
-
-    query_result[tid] = max_dist_sq
-
-
-@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
-def test_mesh_query_furthest_point(test, device):
-    from pxr import Usd, UsdGeom
-
-    mesh = Usd.Stage.Open(os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/spiky.usd")))
-    mesh_geom = UsdGeom.Mesh(mesh.GetPrimAtPath("/Cube/Cube"))
-
-    mesh_counts = mesh_geom.GetFaceVertexCountsAttr().Get()
-    mesh_indices = mesh_geom.GetFaceVertexIndicesAttr().Get()
-
-    tri_indices = triangulate(mesh_counts, mesh_indices)
-
-    mesh_points = wp.array(np.array(mesh_geom.GetPointsAttr().Get()), dtype=wp.vec3, device=device)
-    mesh_indices = wp.array(np.array(tri_indices), dtype=int, device=device)
-
-    # create mesh
-    mesh = wp.Mesh(points=mesh_points, indices=mesh_indices)
-
-    p = particle_grid(32, 32, 32, np.array([-1.1, -1.1, -1.1]), 0.05, 0.0)
-
-    query_count = len(p)
-    query_points = wp.array(p, dtype=wp.vec3, device=device)
-
-    dist_query = wp.zeros(query_count, dtype=float, device=device)
-    dist_brute = wp.zeros(query_count, dtype=float, device=device)
-
-    wp.launch(sample_furthest_points, dim=query_count, inputs=[mesh.id, query_points, dist_query], device=device)
-    wp.launch(
-        sample_furthest_points_brute, dim=query_count, inputs=[mesh_points, query_points, dist_brute], device=device
-    )
-
-    assert_np_equal(dist_query.numpy(), dist_brute.numpy(), tol=1.0e-3)
-
-
-def test_mesh_query_point_codegen_adjoints_with_select(test, device):
-    def kernel_fn(
-        mesh: wp.uint64,
-    ):
-        v = wp.vec3(0.0, 0.0, 0.0)
-        d = 1e-6
-
-        if True:
-            query_1 = wp.mesh_query_point(mesh, v, d)
-            query_2 = wp.mesh_query_point_no_sign(mesh, v, d)
-            query_3 = wp.mesh_query_furthest_point_no_sign(mesh, v, d)
-            query_4 = wp.mesh_query_point_sign_normal(mesh, v, d)
-            query_5 = wp.mesh_query_point_sign_winding_number(mesh, v, d)
-        else:
-            query_1 = wp.mesh_query_point(mesh, v, d)
-            query_2 = wp.mesh_query_point_no_sign(mesh, v, d)
-            query_3 = wp.mesh_query_furthest_point_no_sign(mesh, v, d)
-            query_4 = wp.mesh_query_point_sign_normal(mesh, v, d)
-            query_5 = wp.mesh_query_point_sign_winding_number(mesh, v, d)
-
-    wp.Kernel(func=kernel_fn)
-
-
-devices = get_test_devices()
-
-
-class TestMeshQueryPoint(unittest.TestCase):
-    pass
-
-
-add_function_test(TestMeshQueryPoint, "test_mesh_query_point", test_mesh_query_point, devices=devices)
-add_function_test(TestMeshQueryPoint, "test_mesh_query_furthest_point", test_mesh_query_furthest_point, devices=devices)
-add_function_test(TestMeshQueryPoint, "test_adj_mesh_query_point", test_adj_mesh_query_point, devices=devices)
-add_function_test(
-    TestMeshQueryPoint,
-    "test_mesh_query_point_codegen_adjoints_with_select",
-    test_mesh_query_point_codegen_adjoints_with_select,
-    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 math
+import unittest
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+
+@wp.kernel
+def sample_mesh_query(
+    mesh: wp.uint64,
+    query_points: wp.array(dtype=wp.vec3),
+    query_faces: wp.array(dtype=int),
+    query_signs: wp.array(dtype=float),
+    query_dist: wp.array(dtype=float),
+):
+    tid = wp.tid()
+
+    face_index = int(0)
+    face_u = float(0.0)
+    face_v = float(0.0)
+    sign = float(0.0)
+
+    max_dist = 10012.0
+
+    p = query_points[tid]
+
+    wp.mesh_query_point(mesh, p, max_dist, sign, face_index, face_u, face_v)
+
+    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
+
+    query_signs[tid] = sign
+    query_faces[tid] = face_index
+    query_dist[tid] = wp.length(cp - p)
+
+    query = wp.mesh_query_point(mesh, p, max_dist)
+    wp.expect_eq(query.sign, sign)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
+
+@wp.kernel
+def sample_mesh_query_no_sign(
+    mesh: wp.uint64,
+    query_points: wp.array(dtype=wp.vec3),
+    query_faces: wp.array(dtype=int),
+    query_dist: wp.array(dtype=float),
+):
+    tid = wp.tid()
+
+    face_index = int(0)
+    face_u = float(0.0)
+    face_v = float(0.0)
+
+    max_dist = 10012.0
+
+    p = query_points[tid]
+
+    wp.mesh_query_point_no_sign(mesh, p, max_dist, face_index, face_u, face_v)
+
+    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
+
+    query_faces[tid] = face_index
+    query_dist[tid] = wp.length(cp - p)
+
+    query = wp.mesh_query_point_no_sign(mesh, p, max_dist)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
+
+@wp.kernel
+def sample_mesh_query_sign_normal(
+    mesh: wp.uint64,
+    query_points: wp.array(dtype=wp.vec3),
+    query_faces: wp.array(dtype=int),
+    query_signs: wp.array(dtype=float),
+    query_dist: wp.array(dtype=float),
+):
+    tid = wp.tid()
+
+    face_index = int(0)
+    face_u = float(0.0)
+    face_v = float(0.0)
+    sign = float(0.0)
+
+    max_dist = 10012.0
+
+    p = query_points[tid]
+
+    wp.mesh_query_point_sign_normal(mesh, p, max_dist, sign, face_index, face_u, face_v)
+
+    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
+
+    query_signs[tid] = sign
+    query_faces[tid] = face_index
+    query_dist[tid] = wp.length(cp - p)
+
+    query = wp.mesh_query_point_sign_normal(mesh, p, max_dist)
+    wp.expect_eq(query.sign, sign)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
+
+@wp.kernel
+def sample_mesh_query_sign_winding_number(
+    mesh: wp.uint64,
+    query_points: wp.array(dtype=wp.vec3),
+    query_faces: wp.array(dtype=int),
+    query_signs: wp.array(dtype=float),
+    query_dist: wp.array(dtype=float),
+):
+    tid = wp.tid()
+
+    face_index = int(0)
+    face_u = float(0.0)
+    face_v = float(0.0)
+    sign = float(0.0)
+
+    max_dist = 10012.0
+
+    p = query_points[tid]
+
+    wp.mesh_query_point_sign_winding_number(mesh, p, max_dist, sign, face_index, face_u, face_v)
+
+    cp = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
+
+    query_signs[tid] = sign
+    query_faces[tid] = face_index
+    query_dist[tid] = wp.length(cp - p)
+
+    query = wp.mesh_query_point_sign_winding_number(mesh, p, max_dist)
+    wp.expect_eq(query.sign, sign)
+    wp.expect_eq(query.face, face_index)
+    wp.expect_eq(query.u, face_u)
+    wp.expect_eq(query.v, face_v)
+
+
+@wp.func
+def triangle_closest_point(a: wp.vec3, b: wp.vec3, c: wp.vec3, p: wp.vec3):
+    ab = b - a
+    ac = c - a
+    ap = p - a
+
+    d1 = wp.dot(ab, ap)
+    d2 = wp.dot(ac, ap)
+
+    if d1 <= 0.0 and d2 <= 0.0:
+        return wp.vec2(1.0, 0.0)
+
+    bp = p - b
+    d3 = wp.dot(ab, bp)
+    d4 = wp.dot(ac, bp)
+
+    if d3 >= 0.0 and d4 <= d3:
+        return wp.vec2(0.0, 1.0)
+
+    vc = d1 * d4 - d3 * d2
+    v = d1 / (d1 - d3)
+    if vc <= 0.0 and d1 >= 0.0 and d3 <= 0.0:
+        return wp.vec2(1.0 - v, v)
+
+    cp = p - c
+    d5 = wp.dot(ab, cp)
+    d6 = wp.dot(ac, cp)
+
+    if d6 >= 0.0 and d5 <= d6:
+        return wp.vec2(0.0, 0.0)
+
+    vb = d5 * d2 - d1 * d6
+    w = d2 / (d2 - d6)
+    if vb <= 0.0 and d2 >= 0.0 and d6 <= 0.0:
+        return wp.vec2(1.0 - w, 0.0)
+
+    va = d3 * d6 - d5 * d4
+    w = (d4 - d3) / ((d4 - d3) + (d5 - d6))
+    if va <= 0.0 and (d4 - d3) >= 0.0 and (d5 - d6) >= 0.0:
+        return wp.vec2(0.0, 1.0 - w)
+
+    denom = 1.0 / (va + vb + vc)
+    v = vb * denom
+    w = vc * denom
+    u = 1.0 - v - w
+
+    return wp.vec2(u, v)
+
+
+@wp.func
+def solid_angle(v0: wp.vec3, v1: wp.vec3, v2: wp.vec3, p: wp.vec3):
+    a = v0 - p
+    b = v1 - p
+    c = v2 - p
+
+    a_len = wp.length(a)
+    b_len = wp.length(b)
+    c_len = wp.length(c)
+
+    det = wp.dot(a, wp.cross(b, c))
+    den = a_len * b_len * c_len + wp.dot(a, b) * c_len + wp.dot(b, c) * a_len + wp.dot(c, a) * b_len
+
+    return 2.0 * wp.atan2(det, den)
+
+
+@wp.kernel
+def sample_mesh_brute(
+    tri_points: wp.array(dtype=wp.vec3),
+    tri_indices: wp.array(dtype=int),
+    tri_count: int,
+    query_points: wp.array(dtype=wp.vec3),
+    query_faces: wp.array(dtype=int),
+    query_signs: wp.array(dtype=float),
+    query_dist: wp.array(dtype=float),
+):
+    tid = wp.tid()
+
+    min_face = int(0)
+    min_dist = float(1.0e6)
+
+    sum_solid_angle = float(0.0)
+
+    p = query_points[tid]
+
+    for i in range(0, tri_count):
+        a = tri_points[tri_indices[i * 3 + 0]]
+        b = tri_points[tri_indices[i * 3 + 1]]
+        c = tri_points[tri_indices[i * 3 + 2]]
+
+        sum_solid_angle += solid_angle(a, b, c, p)
+
+        bary = triangle_closest_point(a, b, c, p)
+        u = bary[0]
+        v = bary[1]
+
+        cp = u * a + v * b + (1.0 - u - v) * c
+        cp_dist = wp.length(cp - p)
+
+        if cp_dist < min_dist:
+            min_dist = cp_dist
+            min_face = i
+
+    # for an inside point, the sum of the solid angle should be 4PI
+    # for an outside point, the sum should be 0
+    query_faces[tid] = min_face
+    query_signs[tid] = sum_solid_angle
+    query_dist[tid] = min_dist
+
+
+# constructs a grid of evenly spaced particles
+def particle_grid(dim_x, dim_y, dim_z, lower, radius, jitter):
+    rng = np.random.default_rng(123)
+
+    points = np.meshgrid(np.linspace(0, dim_x, dim_x), np.linspace(0, dim_y, dim_y), np.linspace(0, dim_z, dim_z))
+    points_t = np.array((points[0], points[1], points[2])).T * radius * 2.0 + np.array(lower)
+    points_t = points_t + rng.random(points_t.shape) * radius * jitter
+
+    return points_t.reshape((-1, 3))
+
+
+# triangulate a list of polygon face indices
+def triangulate(face_counts, face_indices):
+    num_tris = np.sum(np.subtract(face_counts, 2))
+    num_tri_vtx = num_tris * 3
+    tri_indices = np.zeros(num_tri_vtx, dtype=int)
+    ctr = 0
+    wedgeIdx = 0
+
+    for nb in face_counts:
+        for i in range(nb - 2):
+            tri_indices[ctr] = face_indices[wedgeIdx]
+            tri_indices[ctr + 1] = face_indices[wedgeIdx + i + 1]
+            tri_indices[ctr + 2] = face_indices[wedgeIdx + i + 2]
+            ctr += 3
+        wedgeIdx += nb
+
+    return tri_indices
+
+
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
+def test_mesh_query_point(test, device):
+    from pxr import Usd, UsdGeom
+
+    mesh = Usd.Stage.Open(os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/spiky.usd")))
+    mesh_geom = UsdGeom.Mesh(mesh.GetPrimAtPath("/Cube/Cube"))
+
+    mesh_counts = mesh_geom.GetFaceVertexCountsAttr().Get()
+    mesh_indices = mesh_geom.GetFaceVertexIndicesAttr().Get()
+
+    tri_indices = triangulate(mesh_counts, mesh_indices)
+
+    mesh_points = wp.array(np.array(mesh_geom.GetPointsAttr().Get()), dtype=wp.vec3, device=device)
+    mesh_indices = wp.array(np.array(tri_indices), dtype=int, device=device)
+
+    # create mesh
+    mesh = wp.Mesh(points=mesh_points, velocities=None, indices=mesh_indices, support_winding_number=True)
+
+    p = particle_grid(32, 32, 32, np.array([-1.1, -1.1, -1.1]), 0.05, 0.0)
+
+    query_count = len(p)
+    query_points = wp.array(p, dtype=wp.vec3, device=device)
+
+    signs_query = wp.zeros(query_count, dtype=float, device=device)
+    faces_query = wp.zeros(query_count, dtype=int, device=device)
+    dist_query = wp.zeros(query_count, dtype=float, device=device)
+
+    faces_query_no_sign = wp.zeros(query_count, dtype=int, device=device)
+    dist_query_no_sign = wp.zeros(query_count, dtype=float, device=device)
+
+    signs_query_normal = wp.zeros(query_count, dtype=float, device=device)
+    faces_query_normal = wp.zeros(query_count, dtype=int, device=device)
+    dist_query_normal = wp.zeros(query_count, dtype=float, device=device)
+
+    signs_query_winding_number = wp.zeros(query_count, dtype=float, device=device)
+    faces_query_winding_number = wp.zeros(query_count, dtype=int, device=device)
+    dist_query_winding_number = wp.zeros(query_count, dtype=float, device=device)
+
+    signs_brute = wp.zeros(query_count, dtype=float, device=device)
+    faces_brute = wp.zeros(query_count, dtype=int, device=device)
+    dist_brute = wp.zeros(query_count, dtype=float, device=device)
+
+    wp.launch(
+        kernel=sample_mesh_query,
+        dim=query_count,
+        inputs=[mesh.id, query_points, faces_query, signs_query, dist_query],
+        device=device,
+    )
+
+    wp.launch(
+        kernel=sample_mesh_query_no_sign,
+        dim=query_count,
+        inputs=[mesh.id, query_points, faces_query_no_sign, dist_query_no_sign],
+        device=device,
+    )
+
+    wp.launch(
+        kernel=sample_mesh_query_sign_normal,
+        dim=query_count,
+        inputs=[mesh.id, query_points, faces_query_normal, signs_query_normal, dist_query_normal],
+        device=device,
+    )
+
+    wp.launch(
+        kernel=sample_mesh_query_sign_winding_number,
+        dim=query_count,
+        inputs=[
+            mesh.id,
+            query_points,
+            faces_query_winding_number,
+            signs_query_winding_number,
+            dist_query_winding_number,
+        ],
+        device=device,
+    )
+
+    wp.launch(
+        kernel=sample_mesh_brute,
+        dim=query_count,
+        inputs=[
+            mesh_points,
+            mesh_indices,
+            int(len(mesh_indices) / 3),
+            query_points,
+            faces_brute,
+            signs_brute,
+            dist_brute,
+        ],
+        device=device,
+    )
+
+    signs_query = signs_query.numpy()
+    faces_query = faces_query.numpy()
+    dist_query = dist_query.numpy()
+
+    faces_query_no_sign = faces_query_no_sign.numpy()
+    dist_query_no_sign = dist_query_no_sign.numpy()
+
+    signs_query_normal = signs_query_normal.numpy()
+    faces_query_normal = faces_query_normal.numpy()
+    dist_query_normal = dist_query_normal.numpy()
+
+    signs_query_winding_number = signs_query_winding_number.numpy()
+    faces_query_winding_number = faces_query_winding_number.numpy()
+    dist_query_winding_number = dist_query_winding_number.numpy()
+
+    signs_brute = signs_brute.numpy()
+    faces_brute = faces_brute.numpy()
+    dist_brute = dist_brute.numpy()
+
+    query_points = query_points.numpy()
+
+    inside_query = [[0.0, 0.0, 0.0]]
+    inside_query_normal = [[0.0, 0.0, 0.0]]
+    inside_query_winding_number = [[0.0, 0.0, 0.0]]
+    inside_brute = [[0.0, 0.0, 0.0]]
+
+    for i in range(query_count):
+        if signs_query[i] < 0.0:
+            inside_query.append(query_points[i].tolist())
+
+        if signs_query_normal[i] < 0.0:
+            inside_query_normal.append(query_points[i].tolist())
+
+        if signs_query_winding_number[i] < 0.0:
+            inside_query_winding_number.append(query_points[i].tolist())
+
+        if signs_brute[i] > math.pi * 2.0:
+            inside_brute.append(query_points[i].tolist())
+
+    inside_query = np.array(inside_query)
+    inside_query_normal = np.array(inside_query_normal)
+    inside_query_winding_number = np.array(inside_query_winding_number)
+    inside_brute = np.array(inside_brute)
+
+    # import warp.render
+
+    # stage = warp.render.UsdRenderer("tests/outputs/test_mesh_query_point.usd")
+
+    # radius = 0.1
+    # stage.begin_frame(0.0)
+    # stage.render_mesh(points=mesh_points.numpy(), indices=mesh_indices.numpy(), name="mesh")
+    # stage.render_points(points=inside_query, radius=radius, name="query")
+    # stage.render_points(points=inside_brute, radius=radius, name="brute")
+    # stage.render_points(points=query_points, radius=radius, name="all")
+    # stage.end_frame()
+
+    # stage.save()
+
+    test.assertTrue(len(inside_query) == len(inside_brute))
+    test.assertTrue(len(inside_query_normal) == len(inside_brute))
+    test.assertTrue(len(inside_query_winding_number) == len(inside_brute))
+
+    tolerance = 1.5e-4
+    dist_error = np.max(np.abs(dist_query - dist_brute))
+    sign_error = np.max(np.abs(inside_query - inside_brute))
+
+    test.assertTrue(dist_error < tolerance, f"mesh_query_point dist_error is {dist_error} which is >= {tolerance}")
+    test.assertTrue(sign_error < tolerance, f"mesh_query_point sign_error is {sign_error} which is >= {tolerance}")
+
+    dist_error = np.max(np.abs(dist_query_no_sign - dist_brute))
+
+    test.assertTrue(
+        dist_error < tolerance, f"mesh_query_point_no_sign dist_error is {dist_error} which is >= {tolerance}"
+    )
+
+    dist_error = np.max(np.abs(dist_query_normal - dist_brute))
+    sign_error = np.max(np.abs(inside_query_normal - inside_brute))
+
+    test.assertTrue(
+        dist_error < tolerance, f"mesh_query_point_sign_normal dist_error is {dist_error} which is >= {tolerance}"
+    )
+    test.assertTrue(
+        sign_error < tolerance, f"mesh_query_point_sign_normal sign_error is {sign_error} which is >= {tolerance}"
+    )
+
+    dist_error = np.max(np.abs(dist_query_winding_number - dist_brute))
+    sign_error = np.max(np.abs(inside_query_winding_number - inside_brute))
+
+    test.assertTrue(
+        dist_error < tolerance,
+        f"mesh_query_point_sign_winding_number dist_error is {dist_error} which is >= {tolerance}",
+    )
+    test.assertTrue(
+        sign_error < tolerance,
+        f"mesh_query_point_sign_winding_number sign_error is {sign_error} which is >= {tolerance}",
+    )
+
+
+@wp.kernel
+def mesh_query_point_loss(
+    mesh: wp.uint64,
+    query_points: wp.array(dtype=wp.vec3),
+    projected_points: wp.array(dtype=wp.vec3),
+    loss: wp.array(dtype=float),
+):
+    tid = wp.tid()
+
+    face_index = int(0)
+    face_u = float(0.0)
+    face_v = float(0.0)
+    sign = float(0.0)
+
+    max_dist = 10012.0
+
+    p = query_points[tid]
+
+    wp.mesh_query_point(mesh, p, max_dist, sign, face_index, face_u, face_v)
+    q = wp.mesh_eval_position(mesh, face_index, face_u, face_v)
+
+    projected_points[tid] = q
+
+    dist = wp.length(wp.sub(p, q))
+    loss[tid] = dist
+
+
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
+def test_adj_mesh_query_point(test, device):
+    from pxr import Usd, UsdGeom
+
+    mesh = Usd.Stage.Open(os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/torus.usda")))
+    mesh_geom = UsdGeom.Mesh(mesh.GetPrimAtPath("/World/Torus"))
+
+    mesh_counts = mesh_geom.GetFaceVertexCountsAttr().Get()
+    mesh_indices = mesh_geom.GetFaceVertexIndicesAttr().Get()
+
+    tri_indices = triangulate(mesh_counts, mesh_indices)
+
+    mesh_points = wp.array(np.array(mesh_geom.GetPointsAttr().Get()), dtype=wp.vec3, device=device)
+    mesh_indices = wp.array(np.array(tri_indices), dtype=int, device=device)
+
+    # test tri
+    # print("Testing Single Triangle")
+    # mesh_points = wp.array(np.array([[0.0, 0.0, 0.0], [2.0, 0.0, 0.0], [0.0, 2.0, 0.0]]), dtype=wp.vec3, device=device)
+    # mesh_indices = wp.array(np.array([0,1,2]), dtype=int, device=device)
+
+    # create mesh
+    mesh = wp.Mesh(points=mesh_points, velocities=None, indices=mesh_indices, support_winding_number=True)
+
+    # p = particle_grid(32, 32, 32, np.array([-5.0, -5.0, -5.0]), 0.1, 0.1)*100.0
+    p = wp.vec3(50.0, 50.0, 50.0)
+
+    tape = wp.Tape()
+
+    # analytic gradients
+    with tape:
+        query_points = wp.array(p, dtype=wp.vec3, device=device, requires_grad=True)
+        projected_points = wp.zeros(n=1, dtype=wp.vec3, device=device)
+        loss = wp.zeros(n=1, dtype=float, device=device, requires_grad=True)
+
+        wp.launch(
+            kernel=mesh_query_point_loss, dim=1, inputs=[mesh.id, query_points, projected_points, loss], device=device
+        )
+
+    tape.backward(loss=loss)
+    analytic = tape.gradients[query_points].numpy().flatten()
+
+    # numeric gradients
+    eps = 1.0e-3
+    loss_values = []
+    numeric = np.zeros(3)
+
+    offset_query_points = [
+        wp.vec3(p[0] - eps, p[1], p[2]),
+        wp.vec3(p[0] + eps, p[1], p[2]),
+        wp.vec3(p[0], p[1] - eps, p[2]),
+        wp.vec3(p[0], p[1] + eps, p[2]),
+        wp.vec3(p[0], p[1], p[2] - eps),
+        wp.vec3(p[0], p[1], p[2] + eps),
+    ]
+
+    for i in range(6):
+        q = offset_query_points[i]
+
+        query_points = wp.array(q, dtype=wp.vec3, device=device)
+        projected_points = wp.zeros(n=1, dtype=wp.vec3, device=device)
+        loss = wp.zeros(n=1, dtype=float, device=device)
+
+        wp.launch(
+            kernel=mesh_query_point_loss, dim=1, inputs=[mesh.id, query_points, projected_points, loss], device=device
+        )
+
+        loss_values.append(loss.numpy()[0])
+
+    for i in range(3):
+        l_0 = loss_values[i * 2]
+        l_1 = loss_values[i * 2 + 1]
+        gradient = (l_1 - l_0) / (2.0 * eps)
+        numeric[i] = gradient
+
+    error = ((analytic - numeric) * (analytic - numeric)).sum(axis=0)
+
+    tolerance = 1.0e-3
+    test.assertTrue(error < tolerance, f"error is {error} which is >= {tolerance}")
+
+
+@wp.kernel
+def sample_furthest_points(mesh: wp.uint64, query_points: wp.array(dtype=wp.vec3), query_result: wp.array(dtype=float)):
+    tid = wp.tid()
+
+    p = query_points[tid]
+
+    face = int(0)
+    bary_u = float(0.0)
+    bary_v = float(0.0)
+
+    if wp.mesh_query_furthest_point_no_sign(mesh, p, 0.0, face, bary_u, bary_v):
+        closest = wp.mesh_eval_position(mesh, face, bary_u, bary_v)
+
+        query_result[tid] = wp.length_sq(p - closest)
+
+    query = wp.mesh_query_furthest_point_no_sign(mesh, p, 0.0)
+    wp.expect_eq(query.face, face)
+    wp.expect_eq(query.u, bary_u)
+    wp.expect_eq(query.v, bary_v)
+
+
+@wp.kernel
+def sample_furthest_points_brute(
+    mesh_points: wp.array(dtype=wp.vec3), query_points: wp.array(dtype=wp.vec3), query_result: wp.array(dtype=float)
+):
+    tid = wp.tid()
+
+    p = query_points[tid]
+    max_dist_sq = float(0.0)
+
+    for i in range(mesh_points.shape[0]):
+        dist_sq = wp.length_sq(p - mesh_points[i])
+
+        if dist_sq > max_dist_sq:
+            max_dist_sq = dist_sq
+
+    query_result[tid] = max_dist_sq
+
+
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
+def test_mesh_query_furthest_point(test, device):
+    from pxr import Usd, UsdGeom
+
+    mesh = Usd.Stage.Open(os.path.abspath(os.path.join(os.path.dirname(__file__), "assets/spiky.usd")))
+    mesh_geom = UsdGeom.Mesh(mesh.GetPrimAtPath("/Cube/Cube"))
+
+    mesh_counts = mesh_geom.GetFaceVertexCountsAttr().Get()
+    mesh_indices = mesh_geom.GetFaceVertexIndicesAttr().Get()
+
+    tri_indices = triangulate(mesh_counts, mesh_indices)
+
+    mesh_points = wp.array(np.array(mesh_geom.GetPointsAttr().Get()), dtype=wp.vec3, device=device)
+    mesh_indices = wp.array(np.array(tri_indices), dtype=int, device=device)
+
+    # create mesh
+    mesh = wp.Mesh(points=mesh_points, indices=mesh_indices)
+
+    p = particle_grid(32, 32, 32, np.array([-1.1, -1.1, -1.1]), 0.05, 0.0)
+
+    query_count = len(p)
+    query_points = wp.array(p, dtype=wp.vec3, device=device)
+
+    dist_query = wp.zeros(query_count, dtype=float, device=device)
+    dist_brute = wp.zeros(query_count, dtype=float, device=device)
+
+    wp.launch(sample_furthest_points, dim=query_count, inputs=[mesh.id, query_points, dist_query], device=device)
+    wp.launch(
+        sample_furthest_points_brute, dim=query_count, inputs=[mesh_points, query_points, dist_brute], device=device
+    )
+
+    assert_np_equal(dist_query.numpy(), dist_brute.numpy(), tol=1.0e-3)
+
+
+devices = get_test_devices()
+
+
+class TestMeshQueryPoint(unittest.TestCase):
+    def test_mesh_query_point_codegen_adjoints_with_select(self):
+        def kernel_fn(
+            mesh: wp.uint64,
+        ):
+            v = wp.vec3(0.0, 0.0, 0.0)
+            d = 1e-6
+
+            if True:
+                query_1 = wp.mesh_query_point(mesh, v, d)
+                query_2 = wp.mesh_query_point_no_sign(mesh, v, d)
+                query_3 = wp.mesh_query_furthest_point_no_sign(mesh, v, d)
+                query_4 = wp.mesh_query_point_sign_normal(mesh, v, d)
+                query_5 = wp.mesh_query_point_sign_winding_number(mesh, v, d)
+            else:
+                query_1 = wp.mesh_query_point(mesh, v, d)
+                query_2 = wp.mesh_query_point_no_sign(mesh, v, d)
+                query_3 = wp.mesh_query_furthest_point_no_sign(mesh, v, d)
+                query_4 = wp.mesh_query_point_sign_normal(mesh, v, d)
+                query_5 = wp.mesh_query_point_sign_winding_number(mesh, v, d)
+
+        wp.Kernel(func=kernel_fn)
+
+
+add_function_test(TestMeshQueryPoint, "test_mesh_query_point", test_mesh_query_point, devices=devices)
+add_function_test(TestMeshQueryPoint, "test_mesh_query_furthest_point", test_mesh_query_furthest_point, devices=devices)
+add_function_test(TestMeshQueryPoint, "test_adj_mesh_query_point", test_adj_mesh_query_point, devices=devices)
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)