warp-lang 1.10.0__py3-none-macosx_11_0_arm64.whl

warp/tests/test_vec.py

@@ -0,0 +1,1408 @@
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+from typing import Any
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+np_signed_int_types = [
+    np.int8,
+    np.int16,
+    np.int32,
+    np.int64,
+    np.byte,
+]
+
+np_unsigned_int_types = [
+    np.uint8,
+    np.uint16,
+    np.uint32,
+    np.uint64,
+    np.ubyte,
+]
+
+np_float_types = [np.float16, np.float32, np.float64]
+
+
+def randvals(rng, shape, dtype):
+    if dtype in np_float_types:
+        return rng.standard_normal(size=shape).astype(dtype)
+    elif dtype in [np.int8, np.uint8, np.byte, np.ubyte]:
+        return rng.integers(1, high=3, size=shape, dtype=dtype)
+    return rng.integers(1, high=5, size=shape, dtype=dtype)
+
+
+kernel_cache = {}
+
+
+def getkernel(func, suffix=""):
+    key = func.__name__ + "_" + suffix
+    if key not in kernel_cache:
+        kernel_cache[key] = wp.Kernel(func=func, key=key)
+    return kernel_cache[key]
+
+
+def test_length_mismatch(test, device):
+    test.assertNotEqual(wp.vec3f(0.0, 0.0, 0.0), wp.vec2f(0.0, 0.0))
+    test.assertNotEqual(wp.vec2f(0.0, 0.0), wp.vec3f(0.0, 0.0, 0.0))
+
+    @wp.kernel
+    def kernel():
+        wp.expect_neq(wp.vec3f(0.0, 0.0, 0.0), wp.vec2f(0.0, 0.0))
+        wp.expect_neq(wp.vec2f(0.0, 0.0), wp.vec3f(0.0, 0.0, 0.0))
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Can't test equality for objects with different types$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_negation(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp._src.types.vector(length=2, dtype=wptype)
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    vec4 = wp._src.types.vector(length=4, dtype=wptype)
+    vec5 = wp._src.types.vector(length=5, dtype=wptype)
+
+    def check_negation(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        v2out: wp.array(dtype=vec2),
+        v3out: wp.array(dtype=vec3),
+        v4out: wp.array(dtype=vec4),
+        v5out: wp.array(dtype=vec5),
+        v20: wp.array(dtype=wptype),
+        v21: wp.array(dtype=wptype),
+        v30: wp.array(dtype=wptype),
+        v31: wp.array(dtype=wptype),
+        v32: wp.array(dtype=wptype),
+        v40: wp.array(dtype=wptype),
+        v41: wp.array(dtype=wptype),
+        v42: wp.array(dtype=wptype),
+        v43: wp.array(dtype=wptype),
+        v50: wp.array(dtype=wptype),
+        v51: wp.array(dtype=wptype),
+        v52: wp.array(dtype=wptype),
+        v53: wp.array(dtype=wptype),
+        v54: wp.array(dtype=wptype),
+    ):
+        v2result = -v2[0]
+        v3result = -v3[0]
+        v4result = -v4[0]
+        v5result = -v5[0]
+
+        v2out[0] = v2result
+        v3out[0] = v3result
+        v4out[0] = v4result
+        v5out[0] = v5result
+
+        # multiply these outputs by 2 so we've got something to backpropagate:
+        v20[0] = wptype(2) * v2result[0]
+        v21[0] = wptype(2) * v2result[1]
+
+        v30[0] = wptype(2) * v3result[0]
+        v31[0] = wptype(2) * v3result[1]
+        v32[0] = wptype(2) * v3result[2]
+
+        v40[0] = wptype(2) * v4result[0]
+        v41[0] = wptype(2) * v4result[1]
+        v42[0] = wptype(2) * v4result[2]
+        v43[0] = wptype(2) * v4result[3]
+
+        v50[0] = wptype(2) * v5result[0]
+        v51[0] = wptype(2) * v5result[1]
+        v52[0] = wptype(2) * v5result[2]
+        v53[0] = wptype(2) * v5result[3]
+        v54[0] = wptype(2) * v5result[4]
+
+    kernel = getkernel(check_negation, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5_np = randvals(rng, (1, 5), dtype)
+    v5 = wp.array(v5_np, dtype=vec5, requires_grad=True, device=device)
+
+    v2out = wp.zeros(1, dtype=vec2, device=device)
+    v3out = wp.zeros(1, dtype=vec3, device=device)
+    v4out = wp.zeros(1, dtype=vec4, device=device)
+    v5out = wp.zeros(1, dtype=vec5, device=device)
+    v20 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v21 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v30 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v31 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v32 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v40 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v41 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v42 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v43 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v50 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v51 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v52 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v53 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v54 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[v2, v3, v4, v5],
+            outputs=[v2out, v3out, v4out, v5out, v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54],
+            device=device,
+        )
+
+    if dtype in np_float_types:
+        for i, l in enumerate([v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54]):
+            tape.backward(loss=l)
+            allgrads = np.concatenate([tape.gradients[v].numpy()[0] for v in [v2, v3, v4, v5]])
+            expected_grads = np.zeros_like(allgrads)
+            expected_grads[i] = -2
+            assert_np_equal(allgrads, expected_grads, tol=tol)
+            tape.zero()
+
+    assert_np_equal(v2out.numpy()[0], -v2.numpy()[0], tol=tol)
+    assert_np_equal(v3out.numpy()[0], -v3.numpy()[0], tol=tol)
+    assert_np_equal(v4out.numpy()[0], -v4.numpy()[0], tol=tol)
+    assert_np_equal(v5out.numpy()[0], -v5.numpy()[0], tol=tol)
+
+
+def test_subtraction_unsigned(test, device, dtype, register_kernels=False):
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp._src.types.vector(length=2, dtype=wptype)
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    vec4 = wp._src.types.vector(length=4, dtype=wptype)
+    vec5 = wp._src.types.vector(length=5, dtype=wptype)
+
+    def check_subtraction_unsigned():
+        wp.expect_eq(vec2(wptype(3), wptype(4)) - vec2(wptype(1), wptype(2)), vec2(wptype(2), wptype(2)))
+        wp.expect_eq(
+            vec3(wptype(3), wptype(4), wptype(4)) - vec3(wptype(1), wptype(2), wptype(3)),
+            vec3(wptype(2), wptype(2), wptype(1)),
+        )
+        wp.expect_eq(
+            vec4(wptype(3), wptype(4), wptype(4), wptype(5)) - vec4(wptype(1), wptype(2), wptype(3), wptype(4)),
+            vec4(wptype(2), wptype(2), wptype(1), wptype(1)),
+        )
+        wp.expect_eq(
+            vec5(wptype(3), wptype(4), wptype(4), wptype(5), wptype(4))
+            - vec5(wptype(1), wptype(2), wptype(3), wptype(4), wptype(4)),
+            vec5(wptype(2), wptype(2), wptype(1), wptype(1), wptype(0)),
+        )
+
+    kernel = getkernel(check_subtraction_unsigned, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    wp.launch(kernel, dim=1, inputs=[], outputs=[], device=device)
+
+
+def test_subtraction(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp._src.types.vector(length=2, dtype=wptype)
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    vec4 = wp._src.types.vector(length=4, dtype=wptype)
+    vec5 = wp._src.types.vector(length=5, dtype=wptype)
+
+    def check_subtraction(
+        s2: wp.array(dtype=vec2),
+        s3: wp.array(dtype=vec3),
+        s4: wp.array(dtype=vec4),
+        s5: wp.array(dtype=vec5),
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        v20: wp.array(dtype=wptype),
+        v21: wp.array(dtype=wptype),
+        v30: wp.array(dtype=wptype),
+        v31: wp.array(dtype=wptype),
+        v32: wp.array(dtype=wptype),
+        v40: wp.array(dtype=wptype),
+        v41: wp.array(dtype=wptype),
+        v42: wp.array(dtype=wptype),
+        v43: wp.array(dtype=wptype),
+        v50: wp.array(dtype=wptype),
+        v51: wp.array(dtype=wptype),
+        v52: wp.array(dtype=wptype),
+        v53: wp.array(dtype=wptype),
+        v54: wp.array(dtype=wptype),
+    ):
+        v2result = v2[0] - s2[0]
+        v3result = v3[0] - s3[0]
+        v4result = v4[0] - s4[0]
+        v5result = v5[0] - s5[0]
+
+        # multiply outputs by 2 so there's something to backpropagate:
+        v20[0] = wptype(2) * v2result[0]
+        v21[0] = wptype(2) * v2result[1]
+
+        v30[0] = wptype(2) * v3result[0]
+        v31[0] = wptype(2) * v3result[1]
+        v32[0] = wptype(2) * v3result[2]
+
+        v40[0] = wptype(2) * v4result[0]
+        v41[0] = wptype(2) * v4result[1]
+        v42[0] = wptype(2) * v4result[2]
+        v43[0] = wptype(2) * v4result[3]
+
+        v50[0] = wptype(2) * v5result[0]
+        v51[0] = wptype(2) * v5result[1]
+        v52[0] = wptype(2) * v5result[2]
+        v53[0] = wptype(2) * v5result[3]
+        v54[0] = wptype(2) * v5result[4]
+
+    kernel = getkernel(check_subtraction, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    s2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    s3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    s4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    s5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+    v20 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v21 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v30 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v31 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v32 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v40 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v41 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v42 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v43 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v50 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v51 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v52 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v53 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v54 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[s2, s3, s4, s5, v2, v3, v4, v5],
+            outputs=[v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54],
+            device=device,
+        )
+
+    assert_np_equal(v20.numpy()[0], 2 * (v2.numpy()[0, 0] - s2.numpy()[0, 0]), tol=tol)
+    assert_np_equal(v21.numpy()[0], 2 * (v2.numpy()[0, 1] - s2.numpy()[0, 1]), tol=tol)
+
+    assert_np_equal(v30.numpy()[0], 2 * (v3.numpy()[0, 0] - s3.numpy()[0, 0]), tol=tol)
+    assert_np_equal(v31.numpy()[0], 2 * (v3.numpy()[0, 1] - s3.numpy()[0, 1]), tol=tol)
+    assert_np_equal(v32.numpy()[0], 2 * (v3.numpy()[0, 2] - s3.numpy()[0, 2]), tol=tol)
+
+    assert_np_equal(v40.numpy()[0], 2 * (v4.numpy()[0, 0] - s4.numpy()[0, 0]), tol=2 * tol)
+    assert_np_equal(v41.numpy()[0], 2 * (v4.numpy()[0, 1] - s4.numpy()[0, 1]), tol=2 * tol)
+    assert_np_equal(v42.numpy()[0], 2 * (v4.numpy()[0, 2] - s4.numpy()[0, 2]), tol=2 * tol)
+    assert_np_equal(v43.numpy()[0], 2 * (v4.numpy()[0, 3] - s4.numpy()[0, 3]), tol=2 * tol)
+
+    assert_np_equal(v50.numpy()[0], 2 * (v5.numpy()[0, 0] - s5.numpy()[0, 0]), tol=tol)
+    assert_np_equal(v51.numpy()[0], 2 * (v5.numpy()[0, 1] - s5.numpy()[0, 1]), tol=tol)
+    assert_np_equal(v52.numpy()[0], 2 * (v5.numpy()[0, 2] - s5.numpy()[0, 2]), tol=tol)
+    assert_np_equal(v53.numpy()[0], 2 * (v5.numpy()[0, 3] - s5.numpy()[0, 3]), tol=tol)
+    assert_np_equal(v54.numpy()[0], 2 * (v5.numpy()[0, 4] - s5.numpy()[0, 4]), tol=tol)
+
+    if dtype in np_float_types:
+        for i, l in enumerate([v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54]):
+            tape.backward(loss=l)
+            sgrads = np.concatenate([tape.gradients[v].numpy()[0] for v in [s2, s3, s4, s5]])
+            expected_grads = np.zeros_like(sgrads)
+
+            expected_grads[i] = -2
+            assert_np_equal(sgrads, expected_grads, tol=10 * tol)
+
+            allgrads = np.concatenate([tape.gradients[v].numpy()[0] for v in [v2, v3, v4, v5]])
+            expected_grads = np.zeros_like(allgrads)
+
+            # d/dv v/s = 1/s
+            expected_grads[i] = 2
+            assert_np_equal(allgrads, expected_grads, tol=tol)
+
+            tape.zero()
+
+
+def test_length(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-7,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp._src.types.vector(length=2, dtype=wptype)
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    vec4 = wp._src.types.vector(length=4, dtype=wptype)
+    vec5 = wp._src.types.vector(length=5, dtype=wptype)
+
+    def check_length(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        l2: wp.array(dtype=wptype),
+        l3: wp.array(dtype=wptype),
+        l4: wp.array(dtype=wptype),
+        l5: wp.array(dtype=wptype),
+        l22: wp.array(dtype=wptype),
+        l23: wp.array(dtype=wptype),
+        l24: wp.array(dtype=wptype),
+        l25: wp.array(dtype=wptype),
+    ):
+        l2[0] = wptype(2) * wp.length(v2[0])
+        l3[0] = wptype(2) * wp.length(v3[0])
+        l4[0] = wptype(2) * wp.length(v4[0])
+        l5[0] = wptype(2) * wp.length(v5[0])
+
+        l22[0] = wptype(2) * wp.length_sq(v2[0])
+        l23[0] = wptype(2) * wp.length_sq(v3[0])
+        l24[0] = wptype(2) * wp.length_sq(v4[0])
+        l25[0] = wptype(2) * wp.length_sq(v5[0])
+
+    kernel = getkernel(check_length, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+
+    l2 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l3 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l4 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l5 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    l22 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l23 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l24 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l25 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, dim=1, inputs=[v2, v3, v4, v5], outputs=[l2, l3, l4, l5, l22, l23, l24, l25], device=device)
+
+    assert_np_equal(l2.numpy()[0], 2 * np.linalg.norm(v2.numpy()), tol=10 * tol)
+    assert_np_equal(l3.numpy()[0], 2 * np.linalg.norm(v3.numpy()), tol=10 * tol)
+    assert_np_equal(l4.numpy()[0], 2 * np.linalg.norm(v4.numpy()), tol=10 * tol)
+    assert_np_equal(l5.numpy()[0], 2 * np.linalg.norm(v5.numpy()), tol=10 * tol)
+
+    assert_np_equal(l22.numpy()[0], 2 * np.linalg.norm(v2.numpy()) ** 2, tol=10 * tol)
+    assert_np_equal(l23.numpy()[0], 2 * np.linalg.norm(v3.numpy()) ** 2, tol=10 * tol)
+    assert_np_equal(l24.numpy()[0], 2 * np.linalg.norm(v4.numpy()) ** 2, tol=10 * tol)
+    assert_np_equal(l25.numpy()[0], 2 * np.linalg.norm(v5.numpy()) ** 2, tol=10 * tol)
+
+    tape.backward(loss=l2)
+    grad = tape.gradients[v2].numpy()[0]
+    expected_grad = 2 * v2.numpy()[0] / np.linalg.norm(v2.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l3)
+    grad = tape.gradients[v3].numpy()[0]
+    expected_grad = 2 * v3.numpy()[0] / np.linalg.norm(v3.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l4)
+    grad = tape.gradients[v4].numpy()[0]
+    expected_grad = 2 * v4.numpy()[0] / np.linalg.norm(v4.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l5)
+    grad = tape.gradients[v5].numpy()[0]
+    expected_grad = 2 * v5.numpy()[0] / np.linalg.norm(v5.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l22)
+    grad = tape.gradients[v2].numpy()[0]
+    expected_grad = 4 * v2.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l23)
+    grad = tape.gradients[v3].numpy()[0]
+    expected_grad = 4 * v3.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l24)
+    grad = tape.gradients[v4].numpy()[0]
+    expected_grad = 4 * v4.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l25)
+    grad = tape.gradients[v5].numpy()[0]
+    expected_grad = 4 * v5.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+
+def test_normalize(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp._src.types.vector(length=2, dtype=wptype)
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    vec4 = wp._src.types.vector(length=4, dtype=wptype)
+    vec5 = wp._src.types.vector(length=5, dtype=wptype)
+
+    def check_normalize(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        n20: wp.array(dtype=wptype),
+        n21: wp.array(dtype=wptype),
+        n30: wp.array(dtype=wptype),
+        n31: wp.array(dtype=wptype),
+        n32: wp.array(dtype=wptype),
+        n40: wp.array(dtype=wptype),
+        n41: wp.array(dtype=wptype),
+        n42: wp.array(dtype=wptype),
+        n43: wp.array(dtype=wptype),
+        n50: wp.array(dtype=wptype),
+        n51: wp.array(dtype=wptype),
+        n52: wp.array(dtype=wptype),
+        n53: wp.array(dtype=wptype),
+        n54: wp.array(dtype=wptype),
+    ):
+        n2 = wptype(2) * wp.normalize(v2[0])
+        n3 = wptype(2) * wp.normalize(v3[0])
+        n4 = wptype(2) * wp.normalize(v4[0])
+        n5 = wptype(2) * wp.normalize(v5[0])
+
+        n20[0] = n2[0]
+        n21[0] = n2[1]
+
+        n30[0] = n3[0]
+        n31[0] = n3[1]
+        n32[0] = n3[2]
+
+        n40[0] = n4[0]
+        n41[0] = n4[1]
+        n42[0] = n4[2]
+        n43[0] = n4[3]
+
+        n50[0] = n5[0]
+        n51[0] = n5[1]
+        n52[0] = n5[2]
+        n53[0] = n5[3]
+        n54[0] = n5[4]
+
+    def check_normalize_alt(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        n20: wp.array(dtype=wptype),
+        n21: wp.array(dtype=wptype),
+        n30: wp.array(dtype=wptype),
+        n31: wp.array(dtype=wptype),
+        n32: wp.array(dtype=wptype),
+        n40: wp.array(dtype=wptype),
+        n41: wp.array(dtype=wptype),
+        n42: wp.array(dtype=wptype),
+        n43: wp.array(dtype=wptype),
+        n50: wp.array(dtype=wptype),
+        n51: wp.array(dtype=wptype),
+        n52: wp.array(dtype=wptype),
+        n53: wp.array(dtype=wptype),
+        n54: wp.array(dtype=wptype),
+    ):
+        n2 = wptype(2) * v2[0] / wp.length(v2[0])
+        n3 = wptype(2) * v3[0] / wp.length(v3[0])
+        n4 = wptype(2) * v4[0] / wp.length(v4[0])
+        n5 = wptype(2) * v5[0] / wp.length(v5[0])
+
+        n20[0] = n2[0]
+        n21[0] = n2[1]
+
+        n30[0] = n3[0]
+        n31[0] = n3[1]
+        n32[0] = n3[2]
+
+        n40[0] = n4[0]
+        n41[0] = n4[1]
+        n42[0] = n4[2]
+        n43[0] = n4[3]
+
+        n50[0] = n5[0]
+        n51[0] = n5[1]
+        n52[0] = n5[2]
+        n53[0] = n5[3]
+        n54[0] = n5[4]
+
+    normalize_kernel = getkernel(check_normalize, suffix=dtype.__name__)
+    normalize_alt_kernel = getkernel(check_normalize_alt, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    # I've already tested the things I'm using in check_normalize_alt, so I'll just
+    # make sure the two are giving the same results/gradients
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+
+    n20 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n21 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n30 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n31 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n32 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n40 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n41 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n42 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n43 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n50 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n51 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n52 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n53 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n54 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    n20_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n21_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n30_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n31_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n32_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n40_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n41_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n42_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n43_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n50_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n51_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n52_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n53_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n54_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    outputs0 = [
+        n20,
+        n21,
+        n30,
+        n31,
+        n32,
+        n40,
+        n41,
+        n42,
+        n43,
+        n50,
+        n51,
+        n52,
+        n53,
+        n54,
+    ]
+    tape0 = wp.Tape()
+    with tape0:
+        wp.launch(normalize_kernel, dim=1, inputs=[v2, v3, v4, v5], outputs=outputs0, device=device)
+
+    outputs1 = [
+        n20_alt,
+        n21_alt,
+        n30_alt,
+        n31_alt,
+        n32_alt,
+        n40_alt,
+        n41_alt,
+        n42_alt,
+        n43_alt,
+        n50_alt,
+        n51_alt,
+        n52_alt,
+        n53_alt,
+        n54_alt,
+    ]
+    tape1 = wp.Tape()
+    with tape1:
+        wp.launch(
+            normalize_alt_kernel,
+            dim=1,
+            inputs=[
+                v2,
+                v3,
+                v4,
+                v5,
+            ],
+            outputs=outputs1,
+            device=device,
+        )
+
+    for ncmp, ncmpalt in zip(outputs0, outputs1):
+        assert_np_equal(ncmp.numpy()[0], ncmpalt.numpy()[0], tol=10 * tol)
+
+    invecs = [v2, v2, v3, v3, v3, v4, v4, v4, v4, v5, v5, v5, v5, v5]
+    for ncmp, ncmpalt, v in zip(outputs0, outputs1, invecs):
+        tape0.backward(loss=ncmp)
+        tape1.backward(loss=ncmpalt)
+        assert_np_equal(tape0.gradients[v].numpy()[0], tape1.gradients[v].numpy()[0], tol=10 * tol)
+        tape0.zero()
+        tape1.zero()
+
+
+def test_crossproduct(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+
+    def check_cross(
+        s3: wp.array(dtype=vec3),
+        v3: wp.array(dtype=vec3),
+        c0: wp.array(dtype=wptype),
+        c1: wp.array(dtype=wptype),
+        c2: wp.array(dtype=wptype),
+    ):
+        c = wp.cross(s3[0], v3[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        c0[0] = wptype(2) * c[0]
+        c1[0] = wptype(2) * c[1]
+        c2[0] = wptype(2) * c[2]
+
+    kernel = getkernel(check_cross, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    s3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    c0 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    c1 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    c2 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[
+                s3,
+                v3,
+            ],
+            outputs=[c0, c1, c2],
+            device=device,
+        )
+
+    result = 2 * np.cross(s3.numpy(), v3.numpy())[0]
+    assert_np_equal(c0.numpy()[0], result[0], tol=10 * tol)
+    assert_np_equal(c1.numpy()[0], result[1], tol=10 * tol)
+    assert_np_equal(c2.numpy()[0], result[2], tol=10 * tol)
+
+    if dtype in np_float_types:
+        # c.x = sy vz - sz vy
+        # c.y = sz vx - sx vz
+        # c.z = sx vy - sy vx
+
+        # ( d/dsx d/dsy d/dsz )c.x = ( 0 vz -vy )
+        # ( d/dsx d/dsy d/dsz )c.y = ( -vz 0 vx )
+        # ( d/dsx d/dsy d/dsz )c.z = ( vy -vx 0 )
+
+        # ( d/dvx d/dvy d/dvz )c.x = (0 -sz sy)
+        # ( d/dvx d/dvy d/dvz )c.y = (sz 0 -sx)
+        # ( d/dvx d/dvy d/dvz )c.z = (-sy sx 0)
+
+        tape.backward(loss=c0)
+        assert_np_equal(
+            tape.gradients[s3].numpy(), 2.0 * np.array([0, v3.numpy()[0, 2], -v3.numpy()[0, 1]]), tol=10 * tol
+        )
+        assert_np_equal(
+            tape.gradients[v3].numpy(), 2.0 * np.array([0, -s3.numpy()[0, 2], s3.numpy()[0, 1]]), tol=10 * tol
+        )
+        tape.zero()
+
+        tape.backward(loss=c1)
+        assert_np_equal(
+            tape.gradients[s3].numpy(), 2.0 * np.array([-v3.numpy()[0, 2], 0, v3.numpy()[0, 0]]), tol=10 * tol
+        )
+        assert_np_equal(
+            tape.gradients[v3].numpy(), 2.0 * np.array([s3.numpy()[0, 2], 0, -s3.numpy()[0, 0]]), tol=10 * tol
+        )
+        tape.zero()
+
+        tape.backward(loss=c2)
+        assert_np_equal(
+            tape.gradients[s3].numpy(), 2.0 * np.array([v3.numpy()[0, 1], -v3.numpy()[0, 0], 0]), tol=10 * tol
+        )
+        assert_np_equal(
+            tape.gradients[v3].numpy(), 2.0 * np.array([-s3.numpy()[0, 1], s3.numpy()[0, 0], 0]), tol=10 * tol
+        )
+        tape.zero()
+
+
+@wp.kernel(module="unique")
+def test_vector_mutation(expected: wp._src.types.vector(length=10, dtype=float)):
+    v = wp.vector(length=10, dtype=float)
+
+    # test element indexing
+    v[0] = 1.0
+
+    for i in range(1, 10):
+        v[i] = float(i) + 1.0
+
+    wp.expect_eq(v, expected)
+
+
+Vec123 = wp.vec(123, dtype=wp.float16)
+
+
+@wp.kernel(module="unique")
+def vector_len_kernel(v1: wp.vec2, v2: wp.vec(3, float), v3: wp.vec(Any, float), v4: Vec123, out: wp.array(dtype=int)):
+    length = wp.static(len(v1))
+    wp.expect_eq(len(v1), 2)
+    out[0] = len(v1)
+
+    length = len(v2)
+    wp.expect_eq(wp.static(len(v2)), 3)
+    out[1] = len(v2)
+
+    length = len(v3)
+    wp.expect_eq(len(v3), 4)
+    out[2] = wp.static(len(v3))
+
+    length = wp.static(len(v4))
+    wp.expect_eq(wp.static(len(v4)), 123)
+    out[3] = wp.static(len(v4))
+
+    foo = wp.vec2()
+    length = len(foo)
+    wp.expect_eq(len(foo), 2)
+    out[4] = len(foo)
+
+
+def test_vector_len(test, device):
+    v1 = wp.vec2()
+    v2 = wp.vec3()
+    v3 = wp.vec4()
+    v4 = Vec123()
+    out = wp.empty(5, dtype=int, device=device)
+    wp.launch(vector_len_kernel, dim=(1,), inputs=(v1, v2, v3, v4), outputs=(out,), device=device)
+
+    test.assertEqual(out.numpy()[0], 2)
+    test.assertEqual(out.numpy()[1], 3)
+    test.assertEqual(out.numpy()[2], 4)
+    test.assertEqual(out.numpy()[3], 123)
+    test.assertEqual(out.numpy()[4], 2)
+
+
+@wp.kernel
+def vec_extract_subscript(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=float)):
+    tid = wp.tid()
+
+    a = x[tid]
+    b = a[0] + 2.0 * a[1] + 3.0 * a[2]
+    y[tid] = b
+
+
+@wp.kernel
+def vec_extract_attribute(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=float)):
+    tid = wp.tid()
+
+    a = x[tid]
+    b = a.x + float(2.0) * a.y + 3.0 * a.z
+    y[tid] = b
+
+
+def test_vec_extract(test, device):
+    def run(kernel):
+        x = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+        y = wp.zeros(1, dtype=float, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, 1, inputs=[x], outputs=[y], device=device)
+
+        y.grad = wp.ones_like(y)
+        tape.backward()
+
+        assert_np_equal(y.numpy(), np.array([6.0], dtype=float))
+        assert_np_equal(x.grad.numpy(), np.array([[1.0, 2.0, 3.0]], dtype=float))
+
+    run(vec_extract_subscript)
+    run(vec_extract_attribute)
+
+
+@wp.kernel
+def vec_assign_subscript(x: wp.array(dtype=float), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    a = wp.vec3()
+    a[0] = 1.0 * x[i]
+    a[1] = 2.0 * x[i]
+    a[2] = 3.0 * x[i]
+    y[i] = a
+
+
+@wp.kernel
+def vec_assign_attribute(x: wp.array(dtype=float), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    a = wp.vec3()
+    a.x = 1.0 * x[i]
+    a.y = 2.0 * x[i]
+    a.z = 3.0 * x[i]
+    y[i] = a
+
+
+def test_vec_assign(test, device):
+    def run(kernel):
+        x = wp.ones(1, dtype=float, requires_grad=True, device=device)
+        y = wp.zeros(1, dtype=wp.vec3, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, 1, inputs=[x], outputs=[y], device=device)
+
+        y.grad = wp.ones_like(y)
+        tape.backward()
+
+        assert_np_equal(y.numpy(), np.array([[1.0, 2.0, 3.0]], dtype=float))
+        assert_np_equal(x.grad.numpy(), np.array([6.0], dtype=float))
+
+    run(vec_assign_subscript)
+    run(vec_assign_attribute)
+
+
+@wp.kernel
+def vec_array_extract_subscript(x: wp.array2d(dtype=wp.vec3), y: wp.array2d(dtype=float)):
+    i, j = wp.tid()
+    a = x[i, j][0]
+    b = x[i, j][1]
+    c = x[i, j][2]
+    y[i, j] = 1.0 * a + 2.0 * b + 3.0 * c
+
+
+@wp.kernel
+def vec_array_extract_attribute(x: wp.array2d(dtype=wp.vec3), y: wp.array2d(dtype=float)):
+    i, j = wp.tid()
+    a = x[i, j].x
+    b = x[i, j].y
+    c = x[i, j].z
+    y[i, j] = 1.0 * a + 2.0 * b + 3.0 * c
+
+
+def test_vec_array_extract(test, device):
+    def run(kernel):
+        x = wp.ones((1, 1), dtype=wp.vec3, requires_grad=True, device=device)
+        y = wp.zeros((1, 1), dtype=float, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, (1, 1), inputs=[x], outputs=[y], device=device)
+
+        y.grad = wp.ones_like(y)
+        tape.backward()
+
+        assert_np_equal(y.numpy(), np.array([[6.0]], dtype=float))
+        assert_np_equal(x.grad.numpy(), np.array([[[1.0, 2.0, 3.0]]], dtype=float))
+
+    run(vec_array_extract_subscript)
+    run(vec_array_extract_attribute)
+
+
+@wp.kernel
+def vec_array_assign_subscript(x: wp.array2d(dtype=float), y: wp.array2d(dtype=wp.vec3)):
+    i, j = wp.tid()
+
+    y[i, j][0] = 1.0 * x[i, j]
+    y[i, j][1] = 2.0 * x[i, j]
+    y[i, j][2] = 3.0 * x[i, j]
+
+
+@wp.kernel
+def vec_array_assign_attribute(x: wp.array2d(dtype=float), y: wp.array2d(dtype=wp.vec3)):
+    i, j = wp.tid()
+
+    y[i, j].x = 1.0 * x[i, j]
+    y[i, j].y = 2.0 * x[i, j]
+    y[i, j].z = 3.0 * x[i, j]
+
+
+def test_vec_array_assign(test, device):
+    def run(kernel):
+        x = wp.ones((1, 1), dtype=float, requires_grad=True, device=device)
+        y = wp.zeros((1, 1), dtype=wp.vec3, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, (1, 1), inputs=[x], outputs=[y], device=device)
+
+        y.grad = wp.ones_like(y)
+        tape.backward()
+
+        assert_np_equal(y.numpy(), np.array([[[1.0, 2.0, 3.0]]], dtype=float))
+        # TODO: gradient propagation for in-place array assignment
+        # assert_np_equal(x.grad.numpy(), np.array([[6.0]], dtype=float))
+
+    run(vec_array_assign_subscript)
+    run(vec_array_assign_attribute)
+
+
+@wp.kernel(module="unique")
+def vec_add_inplace_subscript(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    a = wp.vec3()
+    b = x[i]
+
+    a[0] += 1.0 * b[0]
+    a[1] += 2.0 * b[1]
+    a[2] += 3.0 * b[2]
+
+    y[i] = a
+
+
+@wp.kernel(module="unique")
+def vec_add_inplace_attribute(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    a = wp.vec3()
+    b = x[i]
+
+    a.x += 1.0 * b.x
+    a.y += 2.0 * b.y
+    a.z += 3.0 * b.z
+
+    y[i] = a
+
+
+def test_vec_add_inplace(test, device):
+    def run(kernel):
+        x = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+        y = wp.zeros(1, dtype=wp.vec3, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, 1, inputs=[x], outputs=[y], device=device)
+
+        y.grad = wp.ones_like(y)
+        tape.backward()
+
+        assert_np_equal(y.numpy(), np.array([[1.0, 2.0, 3.0]], dtype=float))
+        assert_np_equal(x.grad.numpy(), np.array([[1.0, 2.0, 3.0]], dtype=float))
+
+    run(vec_add_inplace_subscript)
+    run(vec_add_inplace_attribute)
+
+
+@wp.kernel
+def vec_sub_inplace_subscript(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    a = wp.vec3()
+    b = x[i]
+
+    a[0] -= 1.0 * b[0]
+    a[1] -= 2.0 * b[1]
+    a[2] -= 3.0 * b[2]
+
+    y[i] = a
+
+
+@wp.kernel
+def vec_sub_inplace_attribute(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    a = wp.vec3()
+    b = x[i]
+
+    a.x -= 1.0 * b.x
+    a.y -= 2.0 * b.y
+    a.z -= 3.0 * b.z
+
+    y[i] = a
+
+
+def test_vec_sub_inplace(test, device):
+    def run(kernel):
+        x = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+        y = wp.zeros(1, dtype=wp.vec3, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, 1, inputs=[x], outputs=[y], device=device)
+
+        y.grad = wp.ones_like(y)
+        tape.backward()
+
+        assert_np_equal(y.numpy(), np.array([[-1.0, -2.0, -3.0]], dtype=float))
+        assert_np_equal(x.grad.numpy(), np.array([[-1.0, -2.0, -3.0]], dtype=float))
+
+    run(vec_sub_inplace_subscript)
+    run(vec_sub_inplace_attribute)
+
+
+@wp.kernel(module="unique")
+def vec_array_add_inplace(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    y[i] += x[i]
+
+
+def test_vec_array_add_inplace(test, device):
+    x = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.vec3, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(vec_array_add_inplace, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[1.0, 1.0, 1.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 1.0, 1.0]], dtype=float))
+
+
+@wp.kernel
+def vec_array_sub_inplace(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+
+    y[i] -= x[i]
+
+
+def test_vec_array_sub_inplace(test, device):
+    x = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.vec3, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(vec_array_sub_inplace, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[-1.0, -1.0, -1.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[-1.0, -1.0, -1.0]], dtype=float))
+
+
+@wp.kernel
+def scalar_vec_div(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.vec3)):
+    i = wp.tid()
+    y[i] = 1.0 / x[i]
+
+
+def test_scalar_vec_div(test, device):
+    x = wp.array((wp.vec3(1.0, 2.0, 4.0),), dtype=wp.vec3, requires_grad=True, device=device)
+    y = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(scalar_vec_div, 1, inputs=(x,), outputs=(y,), device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array(((1.0, 0.5, 0.25),), dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array(((-1.0, -0.25, -0.0625),), dtype=float))
+
+
+def test_vec_indexing_assign(test, device):
+    @wp.func
+    def fn():
+        v = wp.vec4(1.0, 2.0, 3.0, 4.0)
+
+        v[0] = 123.0
+        v[1] *= 2.0
+
+        wp.expect_eq(v[0], 123.0)
+        wp.expect_eq(v[1], 4.0)
+        wp.expect_eq(v[2], 3.0)
+        wp.expect_eq(v[3], 4.0)
+
+        v[-1] = 123.0
+        v[-2] *= 2.0
+
+        wp.expect_eq(v[-1], 123.0)
+        wp.expect_eq(v[-2], 6.0)
+        wp.expect_eq(v[-3], 4.0)
+        wp.expect_eq(v[-4], 123.0)
+
+    @wp.kernel(module="unique")
+    def kernel():
+        fn()
+
+    wp.launch(kernel, 1, device=device)
+    wp.synchronize()
+    fn()
+
+
+def test_vec_slicing_assign(test, device):
+    vec0 = wp.vec(0, float)
+    vec1 = wp.vec(1, float)
+    vec2 = wp.vec(2, float)
+    vec3 = wp.vec(3, float)
+    vec4 = wp.vec(4, float)
+
+    @wp.func
+    def fn():
+        v = wp.vec4(1.0, 2.0, 3.0, 4.0)
+
+        wp.expect_eq(v[:] == vec4(1.0, 2.0, 3.0, 4.0), True)
+        wp.expect_eq(v[-123:123] == vec4(1.0, 2.0, 3.0, 4.0), True)
+        wp.expect_eq(v[123:] == vec0(), True)
+        wp.expect_eq(v[:-123] == vec0(), True)
+        wp.expect_eq(v[::123] == vec1(1.0), True)
+
+        wp.expect_eq(v[1:] == vec3(2.0, 3.0, 4.0), True)
+        wp.expect_eq(v[-2:] == vec2(3.0, 4.0), True)
+        wp.expect_eq(v[:2] == vec2(1.0, 2.0), True)
+        wp.expect_eq(v[:-1] == vec3(1.0, 2.0, 3.0), True)
+        wp.expect_eq(v[::2] == vec2(1.0, 3.0), True)
+        wp.expect_eq(v[1::2] == vec2(2.0, 4.0), True)
+        wp.expect_eq(v[::-1] == vec4(4.0, 3.0, 2.0, 1.0), True)
+        wp.expect_eq(v[::-2] == vec2(4.0, 2.0), True)
+        wp.expect_eq(v[1::-2] == vec1(2.0), True)
+
+        v[1:] = vec3(5.0, 6.0, 7.0)
+        wp.expect_eq(v == wp.vec4(1.0, 5.0, 6.0, 7.0), True)
+
+        v[-2:] = vec2(8.0, 9.0)
+        wp.expect_eq(v == wp.vec4(1.0, 5.0, 8.0, 9.0), True)
+
+        v[:2] = vec2(10.0, 11.0)
+        wp.expect_eq(v == wp.vec4(10.0, 11.0, 8.0, 9.0), True)
+
+        v[:-1] = vec3(12.0, 13.0, 14.0)
+        wp.expect_eq(v == wp.vec4(12.0, 13.0, 14.0, 9.0), True)
+
+        v[::2] = vec2(15.0, 16.0)
+        wp.expect_eq(v == wp.vec4(15.0, 13.0, 16.0, 9.0), True)
+
+        v[1::2] = vec2(17.0, 18.0)
+        wp.expect_eq(v == wp.vec4(15.0, 17.0, 16.0, 18.0), True)
+
+        v[::-1] = vec4(19.0, 20.0, 21.0, 22.0)
+        wp.expect_eq(v == wp.vec4(22.0, 21.0, 20.0, 19.0), True)
+
+        v[::-2] = vec2(23.0, 24.0)
+        wp.expect_eq(v == wp.vec4(22.0, 24.0, 20.0, 23.0), True)
+
+        v[1::-2] = vec1(25.0)
+        wp.expect_eq(v == wp.vec4(22.0, 25.0, 20.0, 23.0), True)
+
+        v[1:] += vec3(26.0, 27.0, 28.0)
+        wp.expect_eq(v == wp.vec4(22.0, 51.0, 47.0, 51.0), True)
+
+        v[:-1] -= vec3(29.0, 30.0, 31.0)
+        wp.expect_eq(v == wp.vec4(-7.0, 21.0, 16.0, 51.0), True)
+
+        v[:] %= vec4(32.0, 33.0, 34.0, 35.0)
+        wp.expect_eq(v == wp.vec4(-7.0, 21.0, 16.0, 16.0), True)
+
+    @wp.kernel(module="unique")
+    def kernel():
+        fn()
+
+    wp.launch(kernel, 1, device=device)
+    wp.synchronize()
+    fn()
+
+
+def test_vec_assign_inplace_errors(test, device):
+    @wp.kernel
+    def kernel_1():
+        v = wp.vec4(1.0, 2.0, 3.0, 4.0)
+        v[1:] = wp.vec3d(wp.float64(5.0), wp.float64(6.0), wp.float64(7.0))
+
+    with test.assertRaisesRegex(
+        ValueError,
+        r"The provided vector is expected to be of length 3 with dtype float32.$",
+    ):
+        wp.launch(kernel_1, dim=1, device=device)
+
+    @wp.kernel
+    def kernel_2():
+        v = wp.vec4(1.0, 2.0, 3.0, 4.0)
+        v[1:] = wp.float64(5.0)
+
+    with test.assertRaisesRegex(
+        ValueError,
+        r"The provided value is expected to be a vector of length 3, with dtype float32.$",
+    ):
+        wp.launch(kernel_2, dim=1, device=device)
+
+    @wp.kernel
+    def kernel_3():
+        v = wp.vec4(1.0, 2.0, 3.0, 4.0)
+        v[1:] = wp.mat22(5.0, 6.0, 7.0, 8.0)
+
+    with test.assertRaisesRegex(
+        ValueError,
+        r"The provided value is expected to be a vector of length 3, with dtype float32.$",
+    ):
+        wp.launch(kernel_3, dim=1, device=device)
+
+    @wp.kernel
+    def kernel_4():
+        v = wp.vec4(1.0, 2.0, 3.0, 4.0)
+        v[1:] = wp.vec2(5.0, 6.0)
+
+    with test.assertRaisesRegex(
+        ValueError,
+        r"The length of the provided vector \(2\) isn't compatible with the given slice \(expected 3\).$",
+    ):
+        wp.launch(kernel_4, dim=1, device=device)
+
+
+def test_vec_slicing_assign_backward(test, device):
+    @wp.kernel(module="unique")
+    def kernel(arr_x: wp.array(dtype=wp.vec2), arr_y: wp.array(dtype=wp.vec4)):
+        i = wp.tid()
+
+        y = arr_y[i]
+
+        y[:2] = arr_x[i]
+        y[1:-1] += arr_x[i][:2]
+        y[3:1:-1] -= arr_x[i][0:]
+
+        arr_y[i] = y
+
+    x = wp.ones(1, dtype=wp.vec2, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.vec4, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, 1, inputs=(x,), outputs=(y,), device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array(((1.0, 2.0, 0.0, -1.0),), dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array(((1.0, 1.0),), dtype=float))
+
+
+devices = get_test_devices()
+
+
+class TestVec(unittest.TestCase):
+    def test_tpl_ops_with_anon(self):
+        vec3i = wp.vec(3, dtype=int)
+
+        v = wp.vec3i(1, 2, 3)
+        v += vec3i(2, 3, 4)
+        v -= vec3i(3, 4, 5)
+        self.assertSequenceEqual(v, (0, 1, 2))
+
+        v = vec3i(1, 2, 3)
+        v += wp.vec3i(2, 3, 4)
+        v -= wp.vec3i(3, 4, 5)
+        self.assertSequenceEqual(v, (0, 1, 2))
+
+
+vec10 = wp._src.types.vector(length=10, dtype=float)
+add_kernel_test(
+    TestVec,
+    test_vector_mutation,
+    dim=1,
+    inputs=[vec10(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0)],
+    devices=devices,
+)
+
+for dtype in np_unsigned_int_types:
+    add_function_test_register_kernel(
+        TestVec,
+        f"test_subtraction_unsigned_{dtype.__name__}",
+        test_subtraction_unsigned,
+        devices=devices,
+        dtype=dtype,
+    )
+
+for dtype in np_signed_int_types + np_float_types:
+    add_function_test_register_kernel(
+        TestVec, f"test_negation_{dtype.__name__}", test_negation, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec, f"test_subtraction_{dtype.__name__}", test_subtraction, devices=devices, dtype=dtype
+    )
+
+for dtype in np_float_types:
+    add_function_test_register_kernel(
+        TestVec, f"test_crossproduct_{dtype.__name__}", test_crossproduct, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec, f"test_length_{dtype.__name__}", test_length, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec, f"test_normalize_{dtype.__name__}", test_normalize, devices=devices, dtype=dtype
+    )
+
+add_function_test(TestVec, "test_length_mismatch", test_length_mismatch, devices=devices)
+add_function_test(TestVec, "test_vector_len", test_vector_len, devices=devices)
+add_function_test(TestVec, "test_vec_extract", test_vec_extract, devices=devices)
+add_function_test(TestVec, "test_vec_assign", test_vec_assign, devices=devices)
+add_function_test(TestVec, "test_vec_array_extract", test_vec_array_extract, devices=devices)
+add_function_test(TestVec, "test_vec_array_assign", test_vec_array_assign, devices=devices)
+add_function_test(TestVec, "test_vec_add_inplace", test_vec_add_inplace, devices=devices)
+add_function_test(TestVec, "test_vec_sub_inplace", test_vec_sub_inplace, devices=devices)
+add_function_test(TestVec, "test_vec_array_add_inplace", test_vec_array_add_inplace, devices=devices)
+add_function_test(TestVec, "test_vec_array_sub_inplace", test_vec_array_sub_inplace, devices=devices)
+add_function_test(TestVec, "test_scalar_vec_div", test_scalar_vec_div, devices=devices)
+add_function_test(TestVec, "test_vec_indexing_assign", test_vec_indexing_assign, devices=devices)
+add_function_test(TestVec, "test_vec_slicing_assign", test_vec_slicing_assign, devices=devices)
+add_function_test(TestVec, "test_vec_assign_inplace_errors", test_vec_assign_inplace_errors, devices=devices)
+add_function_test(TestVec, "test_vec_slicing_assign_backward", test_vec_slicing_assign_backward, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2, failfast=True)