warp-lang 1.3.2__py3-none-win_amd64.whl → 1.4.0__py3-none-win_amd64.whl

warp/tests/test_codegen_instancing.py

@@ -0,0 +1,1457 @@
+# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+import unittest
+from typing import Any
+
+import warp as wp
+import warp.tests.aux_test_name_clash1 as name_clash_module_1
+import warp.tests.aux_test_name_clash2 as name_clash_module_2
+from warp.tests.unittest_utils import *
+
+# =======================================================================
+
+
+@wp.kernel
+def global_kernel(a: wp.array(dtype=int)):
+    a[0] = 17
+
+
+global_kernel_1 = global_kernel
+
+
+@wp.kernel
+def global_kernel(a: wp.array(dtype=int)):
+    a[0] = 42
+
+
+global_kernel_2 = global_kernel
+
+
+def test_global_kernel_redefine(test, device):
+    """Ensure that referenced kernels remain valid and unique, even when redefined."""
+
+    with wp.ScopedDevice(device):
+        a = wp.zeros(1, dtype=int)
+
+        wp.launch(global_kernel, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 42)
+
+        wp.launch(global_kernel_1, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 17)
+
+        wp.launch(global_kernel_2, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 42)
+
+
+# =======================================================================
+
+
+@wp.func
+def global_func():
+    return 17
+
+
+global_func_1 = global_func
+
+
+@wp.func
+def global_func():
+    return 42
+
+
+global_func_2 = global_func
+
+
+@wp.kernel
+def global_func_kernel(a: wp.array(dtype=int)):
+    a[0] = global_func()
+    a[1] = global_func_1()
+    a[2] = global_func_2()
+
+
+def test_global_func_redefine(test, device):
+    """Ensure that referenced functions remain valid and unique, even when redefined."""
+
+    with wp.ScopedDevice(device):
+        a = wp.zeros(3, dtype=int)
+        wp.launch(global_func_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([42, 17, 42]))
+
+
+# =======================================================================
+
+
+@wp.struct
+class GlobalStruct:
+    v: float
+
+
+GlobalStruct1 = GlobalStruct
+
+
+@wp.struct
+class GlobalStruct:
+    v: wp.vec2
+
+
+GlobalStruct2 = GlobalStruct
+
+
+@wp.kernel
+def global_struct_args_kernel(s0: GlobalStruct, s1: GlobalStruct1, s2: GlobalStruct2, a: wp.array(dtype=float)):
+    a[0] = s0.v[0]
+    a[1] = s0.v[1]
+    a[2] = s1.v
+    a[3] = s2.v[0]
+    a[4] = s2.v[1]
+
+
+def test_global_struct_args_redefine(test, device):
+    """Ensure that referenced structs remain valid and unique, even when redefined."""
+    with wp.ScopedDevice(device):
+        s0 = GlobalStruct()
+        s1 = GlobalStruct1()
+        s2 = GlobalStruct2()
+        s0.v = wp.vec2(1.0, 2.0)
+        s1.v = 3.0
+        s2.v = wp.vec2(4.0, 5.0)
+
+        a = wp.zeros(5, dtype=float)
+
+        wp.launch(global_struct_args_kernel, dim=1, inputs=[s0, s1, s2, a])
+
+        assert_np_equal(a.numpy(), np.array([1, 2, 3, 4, 5], dtype=np.float32))
+
+
+@wp.kernel
+def global_struct_ctor_kernel(a: wp.array(dtype=float)):
+    s0 = GlobalStruct()
+    s1 = GlobalStruct1()
+    s2 = GlobalStruct2()
+    s0.v = wp.vec2(1.0, 2.0)
+    s1.v = 3.0
+    s2.v = wp.vec2(4.0, 5.0)
+    a[0] = s0.v[0]
+    a[1] = s0.v[1]
+    a[2] = s1.v
+    a[3] = s2.v[0]
+    a[4] = s2.v[1]
+
+
+def test_global_struct_ctor_redefine(test, device):
+    """Ensure that referenced structs remain valid and unique, even when redefined."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(5, dtype=float)
+        wp.launch(global_struct_ctor_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([1, 2, 3, 4, 5], dtype=np.float32))
+
+
+# =======================================================================
+
+
+# "primary" (first) overload
+@wp.func
+def global_func_po(x: int):
+    return x * x
+
+
+# "secondary" overload
+@wp.func
+def global_func_po(x: float):
+    return x * x
+
+
+# redefine primary overload
+@wp.func
+def global_func_po(x: int):
+    return x * x * x
+
+
+@wp.kernel
+def global_overload_primary_kernel(a: wp.array(dtype=float)):
+    # use primary (int) overload
+    a[0] = float(global_func_po(2))
+    # use secondary (float) overload
+    a[1] = global_func_po(2.0)
+
+
+def test_global_overload_primary_redefine(test, device):
+    """Ensure that redefining a primary overload works and doesn't affect secondary overloads."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(2, dtype=float)
+        wp.launch(global_overload_primary_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([8, 4], dtype=np.float32))
+
+
+# =======================================================================
+
+
+# "primary" (first) overload
+@wp.func
+def global_func_so(x: int):
+    return x * x
+
+
+# "secondary" overload
+@wp.func
+def global_func_so(x: float):
+    return x * x
+
+
+# redefine secondary overload
+@wp.func
+def global_func_so(x: float):
+    return x * x * x
+
+
+@wp.kernel
+def global_overload_secondary_kernel(a: wp.array(dtype=float)):
+    # use primary (int) overload
+    a[0] = float(global_func_so(2))
+    # use secondary (float) overload
+    a[1] = global_func_so(2.0)
+
+
+def test_global_overload_secondary_redefine(test, device):
+    """Ensure that redefining a secondary overload works."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(2, dtype=float)
+        wp.launch(global_overload_secondary_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([4, 8], dtype=np.float32))
+
+
+# =======================================================================
+
+
+@wp.kernel
+def global_generic_kernel(x: Any, a: wp.array(dtype=Any)):
+    a[0] = x * x
+
+
+global_generic_kernel_1 = global_generic_kernel
+
+
+@wp.kernel
+def global_generic_kernel(x: Any, a: wp.array(dtype=Any)):
+    a[0] = x * x * x
+
+
+global_generic_kernel_2 = global_generic_kernel
+
+
+def test_global_generic_kernel_redefine(test, device):
+    """Ensure that referenced generic kernels remain valid and unique, even when redefined."""
+
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(1, dtype=int)
+        af = wp.zeros(1, dtype=float)
+
+        wp.launch(global_generic_kernel, dim=1, inputs=[2, ai])
+        wp.launch(global_generic_kernel, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 8)
+        test.assertEqual(af.numpy()[0], 8.0)
+
+        wp.launch(global_generic_kernel_1, dim=1, inputs=[2, ai])
+        wp.launch(global_generic_kernel_1, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 4)
+        test.assertEqual(af.numpy()[0], 4.0)
+
+        wp.launch(global_generic_kernel_2, dim=1, inputs=[2, ai])
+        wp.launch(global_generic_kernel_2, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 8)
+        test.assertEqual(af.numpy()[0], 8.0)
+
+
+# =======================================================================
+
+
+@wp.func
+def global_generic_func(x: Any):
+    return x * x
+
+
+global_generic_func_1 = global_generic_func
+
+
+@wp.func
+def global_generic_func(x: Any):
+    return x * x * x
+
+
+global_generic_func_2 = global_generic_func
+
+
+@wp.kernel
+def global_generic_func_kernel(ai: wp.array(dtype=int), af: wp.array(dtype=float)):
+    ai[0] = global_generic_func(2)
+    af[0] = global_generic_func(2.0)
+
+    ai[1] = global_generic_func_1(2)
+    af[1] = global_generic_func_1(2.0)
+
+    ai[2] = global_generic_func_2(2)
+    af[2] = global_generic_func_2(2.0)
+
+
+def test_global_generic_func_redefine(test, device):
+    """Ensure that referenced generic functions remain valid and unique, even when redefined."""
+
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(3, dtype=int)
+        af = wp.zeros(3, dtype=float)
+        wp.launch(global_generic_func_kernel, dim=1, inputs=[ai, af])
+        assert_np_equal(ai.numpy(), np.array([8, 4, 8], dtype=np.int32))
+        assert_np_equal(af.numpy(), np.array([8, 4, 8], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_kernel_simple():
+    # not a closure
+    @wp.kernel
+    def k(a: wp.array(dtype=int)):
+        a[0] = 17
+
+    return k
+
+
+simple_kernel_1 = create_kernel_simple()
+simple_kernel_2 = create_kernel_simple()
+
+
+def test_create_kernel_simple(test, device):
+    """Test creating multiple identical simple (non-closure) kernels."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(1, dtype=int)
+
+        wp.launch(simple_kernel_1, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 17)
+
+        wp.launch(simple_kernel_2, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 17)
+
+
+# =======================================================================
+
+
+def create_func_simple():
+    # not a closure
+    @wp.func
+    def f():
+        return 17
+
+    return f
+
+
+simple_func_1 = create_func_simple()
+simple_func_2 = create_func_simple()
+
+
+@wp.kernel
+def simple_func_kernel(a: wp.array(dtype=int)):
+    a[0] = simple_func_1()
+    a[1] = simple_func_2()
+
+
+def test_create_func_simple(test, device):
+    """Test creating multiple identical simple (non-closure) functions."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(2, dtype=int)
+        wp.launch(simple_func_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([17, 17]))
+
+
+# =======================================================================
+
+
+def create_struct_simple():
+    @wp.struct
+    class S:
+        x: int
+
+    return S
+
+
+SimpleStruct1 = create_struct_simple()
+SimpleStruct2 = create_struct_simple()
+
+
+@wp.kernel
+def simple_struct_args_kernel(s1: SimpleStruct1, s2: SimpleStruct2, a: wp.array(dtype=int)):
+    a[0] = s1.x
+    a[1] = s2.x
+
+
+def test_create_struct_simple_args(test, device):
+    """Test creating multiple identical structs and passing them as arguments."""
+    with wp.ScopedDevice(device):
+        s1 = SimpleStruct1()
+        s2 = SimpleStruct2()
+        s1.x = 17
+        s2.x = 42
+        a = wp.zeros(2, dtype=int)
+        wp.launch(simple_struct_args_kernel, dim=1, inputs=[s1, s2, a])
+        assert_np_equal(a.numpy(), np.array([17, 42]))
+
+
+@wp.kernel
+def simple_struct_ctor_kernel(a: wp.array(dtype=int)):
+    s1 = SimpleStruct1()
+    s2 = SimpleStruct2()
+    s1.x = 17
+    s2.x = 42
+    a[0] = s1.x
+    a[1] = s2.x
+
+
+def test_create_struct_simple_ctor(test, device):
+    """Test creating multiple identical structs and constructing them in kernels."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(2, dtype=int)
+        wp.launch(simple_struct_ctor_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([17, 42]))
+
+
+# =======================================================================
+
+
+def create_generic_kernel_simple():
+    # not a closure
+    @wp.kernel
+    def k(x: Any, a: wp.array(dtype=Any)):
+        a[0] = x * x
+
+    return k
+
+
+simple_generic_kernel_1 = create_generic_kernel_simple()
+simple_generic_kernel_2 = create_generic_kernel_simple()
+
+
+def test_create_generic_kernel_simple(test, device):
+    """Test creating multiple identical simple (non-closure) generic kernels."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(1, dtype=int)
+        af = wp.zeros(1, dtype=float)
+
+        wp.launch(simple_generic_kernel_1, dim=1, inputs=[2, ai])
+        wp.launch(simple_generic_kernel_1, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 4)
+        test.assertEqual(af.numpy()[0], 4.0)
+
+        wp.launch(simple_generic_kernel_2, dim=1, inputs=[2, ai])
+        wp.launch(simple_generic_kernel_2, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 4)
+        test.assertEqual(af.numpy()[0], 4.0)
+
+
+# =======================================================================
+
+
+def create_generic_func_simple():
+    # not a closure
+    @wp.func
+    def f(x: Any):
+        return x * x
+
+    return f
+
+
+simple_generic_func_1 = create_generic_func_simple()
+simple_generic_func_2 = create_generic_func_simple()
+
+
+@wp.kernel
+def simple_generic_func_kernel(
+    ai: wp.array(dtype=int),
+    af: wp.array(dtype=float),
+):
+    ai[0] = simple_generic_func_1(2)
+    af[0] = simple_generic_func_1(2.0)
+
+    ai[1] = simple_generic_func_2(2)
+    af[1] = simple_generic_func_2(2.0)
+
+
+def test_create_generic_func_simple(test, device):
+    """Test creating multiple identical simple (non-closure) generic functions."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(2, dtype=int)
+        af = wp.zeros(2, dtype=float)
+        wp.launch(simple_generic_func_kernel, dim=1, inputs=[ai, af])
+        assert_np_equal(ai.numpy(), np.array([4, 4], dtype=np.int32))
+        assert_np_equal(af.numpy(), np.array([4, 4], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_kernel_cond(cond):
+    if cond:
+
+        @wp.kernel
+        def k(a: wp.array(dtype=int)):
+            a[0] = 17
+    else:
+
+        @wp.kernel
+        def k(a: wp.array(dtype=int)):
+            a[0] = 42
+
+    return k
+
+
+cond_kernel_1 = create_kernel_cond(True)
+cond_kernel_2 = create_kernel_cond(False)
+
+
+def test_create_kernel_cond(test, device):
+    """Test conditionally creating different simple (non-closure) kernels."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(1, dtype=int)
+
+        wp.launch(cond_kernel_1, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 17)
+
+        wp.launch(cond_kernel_2, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 42)
+
+
+# =======================================================================
+
+
+def create_func_cond(cond):
+    if cond:
+
+        @wp.func
+        def f():
+            return 17
+    else:
+
+        @wp.func
+        def f():
+            return 42
+
+    return f
+
+
+cond_func_1 = create_func_cond(True)
+cond_func_2 = create_func_cond(False)
+
+
+@wp.kernel
+def cond_func_kernel(a: wp.array(dtype=int)):
+    a[0] = cond_func_1()
+    a[1] = cond_func_2()
+
+
+def test_create_func_cond(test, device):
+    """Test conditionally creating different simple (non-closure) functions."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(2, dtype=int)
+        wp.launch(cond_func_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([17, 42]))
+
+
+# =======================================================================
+
+
+def create_struct_cond(cond):
+    if cond:
+
+        @wp.struct
+        class S:
+            v: float
+    else:
+
+        @wp.struct
+        class S:
+            v: wp.vec2
+
+    return S
+
+
+CondStruct1 = create_struct_cond(True)
+CondStruct2 = create_struct_cond(False)
+
+
+@wp.kernel
+def cond_struct_args_kernel(s1: CondStruct1, s2: CondStruct2, a: wp.array(dtype=float)):
+    a[0] = s1.v
+    a[1] = s2.v[0]
+    a[2] = s2.v[1]
+
+
+def test_create_struct_cond_args(test, device):
+    """Test conditionally creating different structs and passing them as arguments."""
+    with wp.ScopedDevice(device):
+        s1 = CondStruct1()
+        s2 = CondStruct2()
+        s1.v = 1.0
+        s2.v = wp.vec2(2.0, 3.0)
+        a = wp.zeros(3, dtype=float)
+        wp.launch(cond_struct_args_kernel, dim=1, inputs=[s1, s2, a])
+        assert_np_equal(a.numpy(), np.array([1, 2, 3], dtype=np.float32))
+
+
+@wp.kernel
+def cond_struct_ctor_kernel(a: wp.array(dtype=float)):
+    s1 = CondStruct1()
+    s2 = CondStruct2()
+    s1.v = 1.0
+    s2.v = wp.vec2(2.0, 3.0)
+    a[0] = s1.v
+    a[1] = s2.v[0]
+    a[2] = s2.v[1]
+
+
+def test_create_struct_cond_ctor(test, device):
+    """Test conditionally creating different structs and passing them as arguments."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(3, dtype=float)
+        wp.launch(cond_struct_ctor_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([1, 2, 3], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_generic_kernel_cond(cond):
+    if cond:
+
+        @wp.kernel
+        def k(x: Any, a: wp.array(dtype=Any)):
+            a[0] = x * x
+    else:
+
+        @wp.kernel
+        def k(x: Any, a: wp.array(dtype=Any)):
+            a[0] = x * x * x
+
+    return k
+
+
+cond_generic_kernel_1 = create_generic_kernel_cond(True)
+cond_generic_kernel_2 = create_generic_kernel_cond(False)
+
+
+def test_create_generic_kernel_cond(test, device):
+    """Test creating different simple (non-closure) generic kernels."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(1, dtype=int)
+        af = wp.zeros(1, dtype=float)
+
+        wp.launch(cond_generic_kernel_1, dim=1, inputs=[2, ai])
+        wp.launch(cond_generic_kernel_1, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 4)
+        test.assertEqual(af.numpy()[0], 4.0)
+
+        wp.launch(cond_generic_kernel_2, dim=1, inputs=[2, ai])
+        wp.launch(cond_generic_kernel_2, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 8)
+        test.assertEqual(af.numpy()[0], 8.0)
+
+
+# =======================================================================
+
+
+def create_generic_func_cond(cond):
+    if cond:
+
+        @wp.func
+        def f(x: Any):
+            return x * x
+    else:
+
+        @wp.func
+        def f(x: Any):
+            return x * x * x
+
+    return f
+
+
+cond_generic_func_1 = create_generic_func_cond(True)
+cond_generic_func_2 = create_generic_func_cond(False)
+
+
+@wp.kernel
+def cond_generic_func_kernel(
+    ai: wp.array(dtype=int),
+    af: wp.array(dtype=float),
+):
+    ai[0] = cond_generic_func_1(2)
+    af[0] = cond_generic_func_1(2.0)
+
+    ai[1] = cond_generic_func_2(2)
+    af[1] = cond_generic_func_2(2.0)
+
+
+def test_create_generic_func_cond(test, device):
+    """Test creating different simple (non-closure) generic functions."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(2, dtype=int)
+        af = wp.zeros(2, dtype=float)
+        wp.launch(cond_generic_func_kernel, dim=1, inputs=[ai, af])
+        assert_np_equal(ai.numpy(), np.array([4, 8], dtype=np.int32))
+        assert_np_equal(af.numpy(), np.array([4, 8], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_kernel_closure(value: int):
+    # closure
+    @wp.kernel
+    def k(a: wp.array(dtype=int)):
+        a[0] = value
+
+    return k
+
+
+closure_kernel_1 = create_kernel_closure(17)
+closure_kernel_2 = create_kernel_closure(42)
+
+
+def test_create_kernel_closure(test, device):
+    """Test creating kernel closures."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(1, dtype=int)
+
+        wp.launch(closure_kernel_1, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 17)
+
+        wp.launch(closure_kernel_2, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 42)
+
+
+# =======================================================================
+
+
+def create_func_closure(value: int):
+    # closure
+    @wp.func
+    def f():
+        return value
+
+    return f
+
+
+closure_func_1 = create_func_closure(17)
+closure_func_2 = create_func_closure(42)
+
+
+@wp.kernel
+def closure_func_kernel(a: wp.array(dtype=int)):
+    a[0] = closure_func_1()
+    a[1] = closure_func_2()
+
+
+def test_create_func_closure(test, device):
+    """Test creating function closures."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(2, dtype=int)
+        wp.launch(closure_func_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([17, 42]))
+
+
+# =======================================================================
+
+
+def create_func_closure_overload(value: int):
+    @wp.func
+    def f():
+        return value
+
+    @wp.func
+    def f(x: int):
+        return value * x
+
+    # return overloaded closure function
+    return f
+
+
+closure_func_overload_1 = create_func_closure_overload(2)
+closure_func_overload_2 = create_func_closure_overload(3)
+
+
+@wp.kernel
+def closure_func_overload_kernel(a: wp.array(dtype=int)):
+    a[0] = closure_func_overload_1()
+    a[1] = closure_func_overload_1(2)
+    a[2] = closure_func_overload_2()
+    a[3] = closure_func_overload_2(2)
+
+
+def test_create_func_closure_overload(test, device):
+    """Test creating overloaded function closures."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(4, dtype=int)
+        wp.launch(closure_func_overload_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([2, 4, 3, 6]))
+
+
+# =======================================================================
+
+
+def create_func_closure_overload_selfref(value: int):
+    @wp.func
+    def f():
+        return value
+
+    @wp.func
+    def f(x: int):
+        # reference another overload
+        return f() * x
+
+    # return overloaded closure function
+    return f
+
+
+closure_func_overload_selfref_1 = create_func_closure_overload_selfref(2)
+closure_func_overload_selfref_2 = create_func_closure_overload_selfref(3)
+
+
+@wp.kernel
+def closure_func_overload_selfref_kernel(a: wp.array(dtype=int)):
+    a[0] = closure_func_overload_selfref_1()
+    a[1] = closure_func_overload_selfref_1(2)
+    a[2] = closure_func_overload_selfref_2()
+    a[3] = closure_func_overload_selfref_2(2)
+
+
+def test_create_func_closure_overload_selfref(test, device):
+    """Test creating overloaded function closures with self-referencing overloads."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(4, dtype=int)
+        wp.launch(closure_func_overload_selfref_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([2, 4, 3, 6]))
+
+
+# =======================================================================
+
+
+def create_func_closure_nonoverload(dtype, value):
+    @wp.func
+    def f(x: dtype):
+        return x * value
+
+    return f
+
+
+# functions created in different scopes should NOT be overloads of each other
+# (i.e., creating new functions with the same signature should not replace previous ones)
+closure_func_nonoverload_1 = create_func_closure_nonoverload(int, 2)
+closure_func_nonoverload_2 = create_func_closure_nonoverload(float, 2.0)
+closure_func_nonoverload_3 = create_func_closure_nonoverload(int, 3)
+closure_func_nonoverload_4 = create_func_closure_nonoverload(float, 3.0)
+
+
+@wp.kernel
+def closure_func_nonoverload_kernel(
+    ai: wp.array(dtype=int),
+    af: wp.array(dtype=float),
+):
+    ai[0] = closure_func_nonoverload_1(2)
+    af[0] = closure_func_nonoverload_2(2.0)
+    ai[1] = closure_func_nonoverload_3(2)
+    af[1] = closure_func_nonoverload_4(2.0)
+
+
+def test_create_func_closure_nonoverload(test, device):
+    """Test creating function closures that are not overloads of each other (overloads are grouped by scope, not globally)."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(2, dtype=int)
+        af = wp.zeros(2, dtype=float)
+        wp.launch(closure_func_nonoverload_kernel, dim=1, inputs=[ai, af])
+        assert_np_equal(ai.numpy(), np.array([4, 6], dtype=np.int32))
+        assert_np_equal(af.numpy(), np.array([4, 6], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_fk_closure(a, b):
+    # closure
+    @wp.func
+    def f():
+        return a
+
+    # closure
+    @wp.kernel
+    def k(a: wp.array(dtype=int)):
+        a[0] = f() + b
+
+    return f, k
+
+
+fk_closure_func_1, fk_closure_kernel_1 = create_fk_closure(10, 7)
+fk_closure_func_2, fk_closure_kernel_2 = create_fk_closure(40, 2)
+
+
+# use generated functions in a new kernel
+@wp.kernel
+def fk_closure_combine_kernel(a: wp.array(dtype=int)):
+    a[0] = fk_closure_func_1() + fk_closure_func_2()
+
+
+def test_create_fk_closure(test, device):
+    """Test creating function and kernel closures together, then reusing the functions in another kernel."""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(1, dtype=int)
+
+        wp.launch(fk_closure_kernel_1, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 17)
+
+        wp.launch(fk_closure_kernel_2, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 42)
+
+        wp.launch(fk_closure_combine_kernel, dim=1, inputs=[a])
+        test.assertEqual(a.numpy()[0], 50)
+
+
+# =======================================================================
+
+
+def create_generic_kernel_closure(value):
+    @wp.kernel
+    def k(x: Any, a: wp.array(dtype=Any)):
+        a[0] = x * type(x)(value)
+
+    return k
+
+
+generic_closure_kernel_1 = create_generic_kernel_closure(2)
+generic_closure_kernel_2 = create_generic_kernel_closure(3)
+
+
+def test_create_generic_kernel_closure(test, device):
+    """Test creating generic closure kernels."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(1, dtype=int)
+        af = wp.zeros(1, dtype=float)
+
+        wp.launch(generic_closure_kernel_1, dim=1, inputs=[2, ai])
+        wp.launch(generic_closure_kernel_1, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 4)
+        test.assertEqual(af.numpy()[0], 4.0)
+
+        wp.launch(generic_closure_kernel_2, dim=1, inputs=[2, ai])
+        wp.launch(generic_closure_kernel_2, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 6)
+        test.assertEqual(af.numpy()[0], 6.0)
+
+
+# =======================================================================
+
+
+def create_generic_kernel_overload_closure(value, dtype):
+    @wp.kernel
+    def k(x: Any, a: wp.array(dtype=Any)):
+        a[0] = x * type(x)(value)
+
+    # return only the overload, not the generic kernel
+    return wp.overload(k, [dtype, wp.array(dtype=dtype)])
+
+
+generic_closure_kernel_overload_i1 = create_generic_kernel_overload_closure(2, int)
+generic_closure_kernel_overload_i2 = create_generic_kernel_overload_closure(3, int)
+generic_closure_kernel_overload_f1 = create_generic_kernel_overload_closure(2, float)
+generic_closure_kernel_overload_f2 = create_generic_kernel_overload_closure(3, float)
+
+
+def test_create_generic_kernel_overload_closure(test, device):
+    """Test creating generic closure kernels, but return only overloads, not the generic kernels themselves."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(1, dtype=int)
+        af = wp.zeros(1, dtype=float)
+
+        wp.launch(generic_closure_kernel_overload_i1, dim=1, inputs=[2, ai])
+        wp.launch(generic_closure_kernel_overload_f1, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 4)
+        test.assertEqual(af.numpy()[0], 4.0)
+
+        wp.launch(generic_closure_kernel_overload_i2, dim=1, inputs=[2, ai])
+        wp.launch(generic_closure_kernel_overload_f2, dim=1, inputs=[2.0, af])
+        test.assertEqual(ai.numpy()[0], 6)
+        test.assertEqual(af.numpy()[0], 6.0)
+
+
+# =======================================================================
+
+
+def create_generic_func_closure(value):
+    @wp.func
+    def f(x: Any):
+        return x * type(x)(value)
+
+    return f
+
+
+generic_closure_func_1 = create_generic_func_closure(2)
+generic_closure_func_2 = create_generic_func_closure(3)
+
+
+@wp.kernel
+def closure_generic_func_kernel(
+    ai: wp.array(dtype=int),
+    af: wp.array(dtype=float),
+):
+    ai[0] = generic_closure_func_1(2)
+    af[0] = generic_closure_func_1(2.0)
+
+    ai[1] = generic_closure_func_2(2)
+    af[1] = generic_closure_func_2(2.0)
+
+
+def test_create_generic_func_closure(test, device):
+    """Test creating generic closure functions."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(2, dtype=int)
+        af = wp.zeros(2, dtype=float)
+        wp.launch(closure_generic_func_kernel, dim=1, inputs=[ai, af])
+        assert_np_equal(ai.numpy(), np.array([4, 6], dtype=np.int32))
+        assert_np_equal(af.numpy(), np.array([4, 6], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_generic_func_closure_overload(value):
+    @wp.func
+    def f(x: Any):
+        return x * type(x)(value)
+
+    @wp.func
+    def f(x: Any, y: Any):
+        return f(x + y)
+
+    # return overloaded generic closure function
+    return f
+
+
+generic_closure_func_overload_1 = create_generic_func_closure_overload(2)
+generic_closure_func_overload_2 = create_generic_func_closure_overload(3)
+
+
+@wp.kernel
+def generic_closure_func_overload_kernel(
+    ai: wp.array(dtype=int),
+    af: wp.array(dtype=float),
+):
+    ai[0] = generic_closure_func_overload_1(1)  # 1 * 2 = 2
+    ai[1] = generic_closure_func_overload_2(1)  # 1 * 3 = 3
+    ai[2] = generic_closure_func_overload_1(1, 2)  # (1 + 2) * 2 = 6
+    ai[3] = generic_closure_func_overload_2(1, 2)  # (1 + 2) * 3 = 9
+
+    af[0] = generic_closure_func_overload_1(1.0)  # 1 * 2 = 2
+    af[1] = generic_closure_func_overload_2(1.0)  # 1 * 3 = 3
+    af[2] = generic_closure_func_overload_1(1.0, 2.0)  # (1 + 2) * 2 = 6
+    af[3] = generic_closure_func_overload_2(1.0, 2.0)  # (1 + 2) * 3 = 9
+
+
+def test_create_generic_func_closure_overload(test, device):
+    """Test creating overloaded generic function closures."""
+    with wp.ScopedDevice(device):
+        ai = wp.zeros(4, dtype=int)
+        af = wp.zeros(4, dtype=float)
+        wp.launch(generic_closure_func_overload_kernel, dim=1, inputs=[ai, af])
+        assert_np_equal(ai.numpy(), np.array([2, 3, 6, 9], dtype=np.int32))
+        assert_np_equal(af.numpy(), np.array([2, 3, 6, 9], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def create_type_closure_scalar(scalar_type):
+    @wp.kernel
+    def k(input: float, expected: float):
+        x = scalar_type(input)
+        wp.expect_eq(float(x), expected)
+
+    return k
+
+
+type_closure_kernel_int = create_type_closure_scalar(int)
+type_closure_kernel_float = create_type_closure_scalar(float)
+type_closure_kernel_uint8 = create_type_closure_scalar(wp.uint8)
+
+
+def test_type_closure_scalar(test, device):
+    with wp.ScopedDevice(device):
+        wp.launch(type_closure_kernel_int, dim=1, inputs=[-1.5, -1.0])
+        wp.launch(type_closure_kernel_float, dim=1, inputs=[-1.5, -1.5])
+
+        # FIXME: a problem with type conversions breaks this case
+        # wp.launch(type_closure_kernel_uint8, dim=1, inputs=[-1.5, 255.0])
+
+
+# =======================================================================
+
+
+def create_type_closure_vector(vec_type):
+    @wp.kernel
+    def k(expected: float):
+        v = vec_type(1.0)
+        wp.expect_eq(wp.length_sq(v), expected)
+
+    return k
+
+
+type_closure_kernel_vec2 = create_type_closure_vector(wp.vec2)
+type_closure_kernel_vec3 = create_type_closure_vector(wp.vec3)
+
+
+def test_type_closure_vector(test, device):
+    with wp.ScopedDevice(device):
+        wp.launch(type_closure_kernel_vec2, dim=1, inputs=[2.0])
+        wp.launch(type_closure_kernel_vec3, dim=1, inputs=[3.0])
+
+
+# =======================================================================
+
+
+@wp.struct
+class ClosureStruct1:
+    v: float
+
+
+@wp.struct
+class ClosureStruct2:
+    v: wp.vec2
+
+
+@wp.func
+def closure_struct_func(s: ClosureStruct1):
+    return 17.0
+
+
+@wp.func
+def closure_struct_func(s: ClosureStruct2):
+    return 42.0
+
+
+def create_type_closure_struct(struct_type):
+    @wp.kernel
+    def k(expected: float):
+        s = struct_type()
+        result = closure_struct_func(s)
+        wp.expect_eq(result, expected)
+
+    return k
+
+
+type_closure_kernel_struct1 = create_type_closure_struct(ClosureStruct1)
+type_closure_kernel_struct2 = create_type_closure_struct(ClosureStruct2)
+
+
+def test_type_closure_struct(test, device):
+    with wp.ScopedDevice(device):
+        wp.launch(type_closure_kernel_struct1, dim=1, inputs=[17.0])
+        wp.launch(type_closure_kernel_struct2, dim=1, inputs=[42.0])
+
+
+# =======================================================================
+
+
+@wp.kernel
+def name_clash_func_kernel(a: wp.array(dtype=int)):
+    a[0] = name_clash_module_1.same_func()
+    a[1] = name_clash_module_2.same_func()
+    a[2] = name_clash_module_1.different_func()
+    a[3] = name_clash_module_2.different_func()
+
+
+def test_name_clash_func(test, device):
+    """Test using identically named functions from different modules"""
+    with wp.ScopedDevice(device):
+        a = wp.zeros(4, dtype=int)
+        wp.launch(name_clash_func_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([99, 99, 17, 42]))
+
+
+# =======================================================================
+
+
+@wp.kernel
+def name_clash_structs_args_kernel(
+    s1: name_clash_module_1.SameStruct,
+    s2: name_clash_module_2.SameStruct,
+    d1: name_clash_module_1.DifferentStruct,
+    d2: name_clash_module_2.DifferentStruct,
+    a: wp.array(dtype=float),
+):
+    a[0] = s1.x
+    a[1] = s2.x
+    a[2] = d1.v
+    a[3] = d2.v[0]
+    a[4] = d2.v[1]
+
+
+def test_name_clash_struct_args(test, device):
+    with wp.ScopedDevice(device):
+        s1 = name_clash_module_1.SameStruct()
+        s2 = name_clash_module_2.SameStruct()
+        d1 = name_clash_module_1.DifferentStruct()
+        d2 = name_clash_module_2.DifferentStruct()
+        s1.x = 1.0
+        s2.x = 2.0
+        d1.v = 3.0
+        d2.v = wp.vec2(4.0, 5.0)
+        a = wp.zeros(5, dtype=float)
+        wp.launch(name_clash_structs_args_kernel, dim=1, inputs=[s1, s2, d1, d2, a])
+        assert_np_equal(a.numpy(), np.array([1, 2, 3, 4, 5], dtype=np.float32))
+
+
+# =======================================================================
+
+
+@wp.kernel
+def name_clash_structs_ctor_kernel(
+    a: wp.array(dtype=float),
+):
+    s1 = name_clash_module_1.SameStruct()
+    s2 = name_clash_module_2.SameStruct()
+    d1 = name_clash_module_1.DifferentStruct()
+    d2 = name_clash_module_2.DifferentStruct()
+
+    s1.x = 1.0
+    s2.x = 2.0
+    d1.v = 3.0
+    d2.v = wp.vec2(4.0, 5.0)
+
+    a[0] = s1.x
+    a[1] = s2.x
+    a[2] = d1.v
+    a[3] = d2.v[0]
+    a[4] = d2.v[1]
+
+
+def test_name_clash_struct_ctor(test, device):
+    with wp.ScopedDevice(device):
+        a = wp.zeros(5, dtype=float)
+        wp.launch(name_clash_structs_ctor_kernel, dim=1, inputs=[a])
+        assert_np_equal(a.numpy(), np.array([1, 2, 3, 4, 5], dtype=np.float32))
+
+
+# =======================================================================
+
+
+def test_create_kernel_loop(test, device):
+    """
+    Test creating a kernel in a loop.  The kernel is always the same,
+    so the module hash doesn't change and the module shouldn't be reloaded.
+    This test ensures that the kernel hooks are found for new duplicate kernels.
+    """
+
+    with wp.ScopedDevice(device):
+        for _ in range(5):
+
+            @wp.kernel
+            def k():
+                pass
+
+            wp.launch(k, dim=1)
+            wp.synchronize_device()
+
+
+# =======================================================================
+
+
+def test_module_mark_modified(test, device):
+    """Test that Module.mark_modified() forces module rehashing and reloading."""
+
+    with wp.ScopedDevice(device):
+
+        @wp.kernel
+        def k(expected: int):
+            wp.expect_eq(C, expected)
+
+        C = 17
+        wp.launch(k, dim=1, inputs=[17])
+        wp.synchronize_device()
+
+        # redefine constant and force rehashing on next launch
+        C = 42
+        k.module.mark_modified()
+
+        wp.launch(k, dim=1, inputs=[42])
+        wp.synchronize_device()
+
+
+# =======================================================================
+
+
+class TestCodeGenInstancing(unittest.TestCase):
+    pass
+
+
+devices = get_test_devices()
+
+# global redefinitions with retained references
+add_function_test(
+    TestCodeGenInstancing, func=test_global_kernel_redefine, name="test_global_kernel_redefine", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_global_func_redefine, name="test_global_func_redefine", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_global_struct_args_redefine,
+    name="test_global_struct_args_redefine",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_global_struct_ctor_redefine,
+    name="test_global_struct_ctor_redefine",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_global_overload_primary_redefine,
+    name="test_global_overload_primary_redefine",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_global_overload_secondary_redefine,
+    name="test_global_overload_secondary_redefine",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_global_generic_kernel_redefine,
+    name="test_global_generic_kernel_redefine",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_global_generic_func_redefine,
+    name="test_global_generic_func_redefine",
+    devices=devices,
+)
+
+# create identical simple kernels, functions, and structs
+add_function_test(
+    TestCodeGenInstancing, func=test_create_kernel_simple, name="test_create_kernel_simple", devices=devices
+)
+add_function_test(TestCodeGenInstancing, func=test_create_func_simple, name="test_create_func_simple", devices=devices)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_struct_simple_args, name="test_create_struct_simple_args", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_struct_simple_ctor, name="test_create_struct_simple_ctor", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_generic_kernel_simple,
+    name="test_create_generic_kernel_simple",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_generic_func_simple, name="test_create_generic_func_simple", devices=devices
+)
+
+# create different simple kernels, functions, and structs
+add_function_test(TestCodeGenInstancing, func=test_create_kernel_cond, name="test_create_kernel_cond", devices=devices)
+add_function_test(TestCodeGenInstancing, func=test_create_func_cond, name="test_create_func_cond", devices=devices)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_struct_cond_args, name="test_create_struct_cond_args", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_struct_cond_ctor, name="test_create_struct_cond_ctor", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_generic_kernel_cond, name="test_create_generic_kernel_cond", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_generic_func_cond, name="test_create_generic_func_cond", devices=devices
+)
+
+# closure kernels and functions
+add_function_test(
+    TestCodeGenInstancing, func=test_create_kernel_closure, name="test_create_kernel_closure", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_create_func_closure, name="test_create_func_closure", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_func_closure_overload,
+    name="test_create_func_closure_overload",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_func_closure_overload_selfref,
+    name="test_create_func_closure_overload_selfref",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_func_closure_nonoverload,
+    name="test_create_func_closure_nonoverload",
+    devices=devices,
+)
+add_function_test(TestCodeGenInstancing, func=test_create_fk_closure, name="test_create_fk_closure", devices=devices)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_generic_kernel_closure,
+    name="test_create_generic_kernel_closure",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_generic_kernel_overload_closure,
+    name="test_create_generic_kernel_overload_closure",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_generic_func_closure,
+    name="test_create_generic_func_closure",
+    devices=devices,
+)
+add_function_test(
+    TestCodeGenInstancing,
+    func=test_create_generic_func_closure_overload,
+    name="test_create_generic_func_closure_overload",
+    devices=devices,
+)
+
+# type closures
+add_function_test(
+    TestCodeGenInstancing, func=test_type_closure_scalar, name="test_type_closure_scalar", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_type_closure_vector, name="test_type_closure_vector", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_type_closure_struct, name="test_type_closure_struct", devices=devices
+)
+
+# test name clashes between modules
+add_function_test(TestCodeGenInstancing, func=test_name_clash_func, name="test_name_clash_func", devices=devices)
+add_function_test(
+    TestCodeGenInstancing, func=test_name_clash_struct_args, name="test_name_clash_struct_args", devices=devices
+)
+add_function_test(
+    TestCodeGenInstancing, func=test_name_clash_struct_ctor, name="test_name_clash_struct_ctor", devices=devices
+)
+
+# miscellaneous tests
+add_function_test(TestCodeGenInstancing, func=test_create_kernel_loop, name="test_create_kernel_loop", devices=devices)
+add_function_test(
+    TestCodeGenInstancing, func=test_module_mark_modified, name="test_module_mark_modified", devices=devices
+)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2)