warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/tests/geometry/test_mesh_query_point.py

@@ -0,0 +1,932 @@
+# 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 math
+import unittest
+
+import numpy as np
+
+import warp as wp
+import warp.examples
+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)
+
+    if device.is_cpu:
+        constructors = ["sah", "median"]
+    else:
+        constructors = ["sah", "median", "lbvh"]
+
+    for constructor in constructors:
+        # create mesh
+        mesh = wp.Mesh(
+            points=mesh_points,
+            velocities=None,
+            indices=mesh_indices,
+            support_winding_number=True,
+            bvh_constructor=constructor,
+        )
+
+        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)
+
+    if device.is_cpu:
+        constructors = ["sah", "median"]
+    else:
+        constructors = ["sah", "median", "lbvh"]
+
+    for constructor in constructors:
+        # 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,
+            bvh_constructor=constructor,
+        )
+
+        # 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)
+
+    if device.is_cpu:
+        constructors = ["sah", "median"]
+    else:
+        constructors = ["sah", "median", "lbvh"]
+
+    for constructor in constructors:
+        # create mesh
+        mesh = wp.Mesh(points=mesh_points, indices=mesh_indices, bvh_constructor=constructor)
+
+        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)
+
+
+@wp.func
+def triangle_closest_point_for_test(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:
+        bary = wp.vec3(1.0, 0.0, 0.0)
+        return a, bary
+
+    bp = p - b
+    d3 = wp.dot(ab, bp)
+    d4 = wp.dot(ac, bp)
+    if d3 >= 0.0 and d4 <= d3:
+        bary = wp.vec3(0.0, 1.0, 0.0)
+        return b, bary
+
+    cp = p - c
+    d5 = wp.dot(ab, cp)
+    d6 = wp.dot(ac, cp)
+    if d6 >= 0.0 and d5 <= d6:
+        bary = wp.vec3(0.0, 0.0, 1.0)
+        return c, bary
+
+    vc = d1 * d4 - d3 * d2
+    if vc <= 0.0 and d1 >= 0.0 and d3 <= 0.0:
+        v = d1 / (d1 - d3)
+        bary = wp.vec3(1.0 - v, v, 0.0)
+        return a + v * ab, bary
+
+    vb = d5 * d2 - d1 * d6
+    if vb <= 0.0 and d2 >= 0.0 and d6 <= 0.0:
+        v = d2 / (d2 - d6)
+        bary = wp.vec3(1.0 - v, 0.0, v)
+        return a + v * ac, bary
+
+    va = d3 * d6 - d5 * d4
+    if va <= 0.0 and (d4 - d3) >= 0.0 and (d5 - d6) >= 0.0:
+        v = (d4 - d3) / ((d4 - d3) + (d5 - d6))
+        bary = wp.vec3(0.0, 1.0 - v, v)
+        return b + v * (c - b), bary
+
+    denom = 1.0 / (va + vb + vc)
+    v = vb * denom
+    w = vc * denom
+    bary = wp.vec3(1.0 - v - w, v, w)
+    return a + v * ab + w * ac, bary
+
+
+def load_mesh(model_name="bunny"):
+    from pxr import Usd, UsdGeom
+
+    usd_stage = Usd.Stage.Open(os.path.join(wp.examples.get_asset_directory(), model_name + ".usd"))
+    usd_geom = UsdGeom.Mesh(usd_stage.GetPrimAtPath("/root/" + model_name))
+
+    vertices = np.array(usd_geom.GetPointsAttr().Get())
+    faces = np.array(usd_geom.GetFaceVertexIndicesAttr().Get())
+
+    return vertices, faces
+
+
+@wp.kernel
+def point_query_aabb_and_closest(
+    query_radius: float,
+    mesh_id: wp.uint64,
+    pts: wp.array(dtype=wp.vec3),
+    pos: wp.array(dtype=wp.vec3),
+    tri_indices: wp.array(dtype=wp.int32, ndim=2),
+    query_results_num_collisions: wp.array(dtype=wp.int32),
+    query_results_min_dist: wp.array(dtype=float),
+    query_results_closest_point_velocity: wp.array(dtype=wp.vec3),
+):
+    p_index = wp.tid()
+    p = pts[p_index]
+
+    lower = wp.vec3(p[0] - query_radius, p[1] - query_radius, p[2] - query_radius)
+    upper = wp.vec3(p[0] + query_radius, p[1] + query_radius, p[2] + query_radius)
+
+    closest_query = wp.mesh_query_point_no_sign(mesh_id, p, query_radius)
+    if closest_query.result:
+        closest_p = wp.mesh_eval_position(mesh_id, closest_query.face, closest_query.u, closest_query.v)
+        closest_p_vel = wp.mesh_eval_velocity(mesh_id, closest_query.face, closest_query.u, closest_query.v)
+
+        query_results_min_dist[p_index] = wp.length(closest_p - p)
+        query_results_closest_point_velocity[p_index] = closest_p_vel
+
+    query = wp.mesh_query_aabb(mesh_id, lower, upper)
+
+    tri_index = wp.int32(0)
+    num_collisions = wp.int32(0)
+    min_dis_to_tris = query_radius
+    while wp.mesh_query_aabb_next(query, tri_index):
+        t1 = tri_indices[tri_index, 0]
+        t2 = tri_indices[tri_index, 1]
+        t3 = tri_indices[tri_index, 2]
+
+        u1 = pos[t1]
+        u2 = pos[t2]
+        u3 = pos[t3]
+
+        closest_p1, barycentric1 = triangle_closest_point_for_test(u1, u2, u3, p)
+
+        dis = wp.length(closest_p1 - p)
+
+        if dis < query_radius:
+            num_collisions = num_collisions + 1
+
+    query_results_num_collisions[p_index] = num_collisions
+
+
+@unittest.skipUnless(USD_AVAILABLE, "Requires usd-core")
+def test_set_mesh_points(test, device):
+    if device.is_cpu:
+        constructors = ["sah", "median"]
+    else:
+        constructors = ["sah", "median", "lbvh"]
+
+    rng = np.random.default_rng(123)
+
+    models = ["bunny", "nonuniform"]
+
+    for model in models:
+        vs, fs = load_mesh(model)
+        vertices1 = wp.array(vs, dtype=wp.vec3, device=device)
+        velocities1_np = rng.standard_normal(size=(vertices1.shape[0], 3))
+        velocities1 = wp.array(velocities1_np, dtype=wp.vec3, device=device)
+
+        faces = wp.array(fs, dtype=wp.int32, device=device)
+
+        n = 1000
+        query_radius = 0.2
+        pts1 = wp.array(rng.standard_normal(size=(n, 3)), dtype=wp.vec3, device=device)
+
+        query_results_num_cols1 = wp.zeros(n, dtype=wp.int32, device=device)
+        query_results_min_dist1 = wp.zeros(n, dtype=float, device=device)
+        query_results_closest_point_velocity1 = wp.zeros(n, dtype=wp.vec3, device=device)
+
+        for constructor in constructors:
+            mesh = wp.Mesh(vertices1, faces, velocities=velocities1, bvh_constructor=constructor)
+            fs_2D = faces.reshape((-1, 3))
+
+            wp.launch(
+                kernel=point_query_aabb_and_closest,
+                inputs=[
+                    query_radius,
+                    mesh.id,
+                    pts1,
+                    vertices1,
+                    fs_2D,
+                    query_results_num_cols1,
+                    query_results_min_dist1,
+                    query_results_closest_point_velocity1,
+                ],
+                dim=n,
+                device=device,
+            )
+
+            shift = rng.standard_normal(size=3)
+
+            vs_higher = vs + shift
+            vertices2 = wp.array(vs_higher, dtype=wp.vec3, device=device)
+
+            velocities2_np = velocities1_np + shift[None, ...]
+            velocities2 = wp.array(velocities2_np, dtype=wp.vec3, device=device)
+
+            pts2 = wp.array(pts1.numpy() + shift, dtype=wp.vec3, device=device)
+
+            mesh.points = vertices2
+            mesh.velocities = velocities2
+
+            query_results_num_cols2 = wp.zeros(n, dtype=wp.int32, device=device)
+            query_results_min_dist2 = wp.zeros(n, dtype=float, device=device)
+            query_results_closest_point_velocity2 = wp.array([shift for i in range(n)], dtype=wp.vec3, device=device)
+
+            wp.launch(
+                kernel=point_query_aabb_and_closest,
+                inputs=[
+                    query_radius,
+                    mesh.id,
+                    pts2,
+                    vertices2,
+                    fs_2D,
+                    query_results_num_cols2,
+                    query_results_min_dist2,
+                    query_results_closest_point_velocity2,
+                ],
+                dim=n,
+                device=device,
+            )
+
+            test.assertTrue((query_results_num_cols1.numpy() == query_results_num_cols2.numpy()).all())
+            test.assertTrue(((query_results_min_dist1.numpy() - query_results_min_dist2.numpy()) < 1e-5).all())
+
+
+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)
+add_function_test(TestMeshQueryPoint, "test_set_mesh_points", test_set_mesh_points, devices=devices)
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2)