warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/tests/test_mat.py

@@ -0,0 +1,2089 @@
+# 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_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 get_select_kernel(dtype):
+    def output_select_kernel_fn(input: wp.array(dtype=dtype), index: int, out: wp.array(dtype=dtype)):
+        out[0] = input[index]
+
+    return getkernel(output_select_kernel_fn, suffix=dtype.__name__)
+
+
+def test_anon_constructor_error_shape_arg_missing(test, device):
+    @wp.kernel
+    def kernel():
+        wp.matrix(1.0, 2.0, 3.0)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"the `shape` argument must be specified when initializing a matrix by value$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_anon_constructor_error_shape_mismatch(test, device):
+    @wp.kernel
+    def kernel():
+        wp.matrix(wp.matrix(shape=(1, 2), dtype=float), shape=(3, 4), dtype=float)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"incompatible matrix of shape \(3, 4\) given when copy constructing a matrix of shape \(1, 2\)$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_anon_constructor_error_type_mismatch(test, device):
+    @wp.kernel
+    def kernel():
+        wp.matrix(1.0, shape=(3, 2), dtype=wp.float16)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"the value used to fill this matrix is expected to be of the type `float16`$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_anon_constructor_error_invalid_arg_count(test, device):
+    @wp.kernel
+    def kernel():
+        wp.matrix(1.0, 2.0, 3.0, shape=(2, 2), dtype=float)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"incompatible number of values given \(3\) when constructing a matrix of shape \(2, 2\)$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_anon_xform_constructor_error_type_mismatch(test, device):
+    @wp.kernel
+    def kernel():
+        wp.matrix(wp.vec3(1.0, 2.0, 3.0), wp.quat(0.0, 0.0, 0.0, 1.0), wp.vec3(2.0, 2.0, 2.0), wp.float64)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"all values used to initialize this transformation matrix are expected to be of the type `float64`$",
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_tpl_constructor_error_incompatible_sizes(test, device):
+    @wp.kernel
+    def kernel():
+        wp.mat33(wp.mat22(1.0, 2.0, 3.0, 4.0))
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"incompatible matrix of shape \(3, 3\) given when copy constructing a matrix of shape \(2, 2\)$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_tpl_constructor_error_invalid_arg_count(test, device):
+    @wp.kernel
+    def kernel():
+        wp.mat22(1.0, 2.0, 3.0)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"incompatible number of values given \(3\) when constructing a matrix of shape \(2, 2\)$",
+    ):
+        wp.launch(kernel, dim=1, inputs=[], device=device)
+
+
+def test_py_arithmetic_ops(test, device, dtype):
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+
+    def make_mat(*args):
+        if wptype in wp.types.int_types:
+            # Cast to the correct integer type to simulate wrapping.
+            return tuple(tuple(wptype._type_(x).value for x in row) for row in args)
+
+        return args
+
+    def make_vec(*args):
+        if wptype in wp.types.int_types:
+            # Cast to the correct integer type to simulate wrapping.
+            return tuple(wptype._type_(x).value for x in args)
+
+        return args
+
+    mat_cls = wp.mat((3, 3), wptype)
+    vec_cls = wp.vec(3, wptype)
+
+    m = mat_cls(((-1, 2, 3), (4, -5, 6), (7, 8, -9)))
+    test.assertSequenceEqual(+m, make_mat((-1, 2, 3), (4, -5, 6), (7, 8, -9)))
+    test.assertSequenceEqual(-m, make_mat((1, -2, -3), (-4, 5, -6), (-7, -8, 9)))
+    test.assertSequenceEqual(m + mat_cls((5, 5, 5) * 3), make_mat((4, 7, 8), (9, 0, 11), (12, 13, -4)))
+    test.assertSequenceEqual(m - mat_cls((5, 5, 5) * 3), make_mat((-6, -3, -2), (-1, -10, 1), (2, 3, -14)))
+    test.assertSequenceEqual(m * vec_cls(5, 5, 5), make_vec(20, 25, 30))
+    test.assertSequenceEqual(m @ vec_cls(5, 5, 5), make_vec(20, 25, 30))
+    test.assertSequenceEqual(vec_cls(5, 5, 5) * m, make_vec(50, 25, 0))
+    test.assertSequenceEqual(vec_cls(5, 5, 5) @ m, make_vec(50, 25, 0))
+
+    m = mat_cls(((2, 4, 6), (8, 10, 12), (14, 16, 18)))
+    test.assertSequenceEqual(m * wptype(2), make_mat((4, 8, 12), (16, 20, 24), (28, 32, 36)))
+    test.assertSequenceEqual(wptype(2) * m, make_mat((4, 8, 12), (16, 20, 24), (28, 32, 36)))
+    test.assertSequenceEqual(m / wptype(2), make_mat((1, 2, 3), (4, 5, 6), (7, 8, 9)))
+    test.assertSequenceEqual(wptype(5040) / m, make_mat((2520, 1260, 840), (630, 504, 420), (360, 315, 280)))
+    test.assertSequenceEqual(m * vec_cls(5, 5, 5), make_vec(60, 150, 240))
+    test.assertSequenceEqual(m @ vec_cls(5, 5, 5), make_vec(60, 150, 240))
+    test.assertSequenceEqual(vec_cls(5, 5, 5) * m, make_vec(120, 150, 180))
+    test.assertSequenceEqual(vec_cls(5, 5, 5) @ m, make_vec(120, 150, 180))
+
+
+def test_quat_constructor(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+    vec4 = wp.types.vector(length=4, dtype=wptype)
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    quat = wp.types.quaternion(dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_quat_constructor(
+        p: wp.array(dtype=vec3),
+        r: wp.array(dtype=quat),
+        s: wp.array(dtype=vec3),
+        outcomponents: wp.array(dtype=wptype),
+        outcomponents_alt: wp.array(dtype=wptype),
+    ):
+        m = mat44(p[0], r[0], s[0])
+
+        R = wp.transpose(wp.quat_to_matrix(r[0]))
+        c0 = s[0][0] * R[0]
+        c1 = s[0][1] * R[1]
+        c2 = s[0][2] * R[2]
+        m_alt = wp.matrix_from_cols(
+            vec4(c0[0], c0[1], c0[2], wptype(0.0)),
+            vec4(c1[0], c1[1], c1[2], wptype(0.0)),
+            vec4(c2[0], c2[1], c2[2], wptype(0.0)),
+            vec4(p[0][0], p[0][1], p[0][2], wptype(1.0)),
+        )
+
+        idx = 0
+        for i in range(4):
+            for j in range(4):
+                outcomponents[idx] = m[i, j]
+                outcomponents_alt[idx] = m_alt[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_quat_constructor, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    # translation:
+    p = wp.array(rng.standard_normal(size=(1, 3)).astype(dtype), dtype=vec3, requires_grad=True, device=device)
+
+    # generate a normalized quaternion for the rotation:
+    r = rng.standard_normal(size=(1, 4))
+    r /= np.linalg.norm(r)
+    r = wp.array(r.astype(dtype), dtype=quat, requires_grad=True, device=device)
+
+    # scale:
+    s = wp.array(rng.standard_normal(size=(1, 3)).astype(dtype), dtype=vec3, requires_grad=True, device=device)
+
+    # just going to generate the matrix using the constructor, then
+    # more manually, and make sure the values/gradients are the same:
+    outcomponents = wp.zeros(4 * 4, dtype=wptype, requires_grad=True, device=device)
+    outcomponents_alt = wp.zeros(4 * 4, dtype=wptype, requires_grad=True, device=device)
+    wp.launch(kernel, dim=1, inputs=[p, r, s], outputs=[outcomponents, outcomponents_alt], device=device)
+    assert_np_equal(outcomponents.numpy(), outcomponents_alt.numpy(), tol=1.0e-6)
+
+    idx = 0
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    out_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for _i in range(4):
+        for _j in range(4):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[p, r, s], outputs=[outcomponents, outcomponents_alt], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                wp.launch(
+                    output_select_kernel, dim=1, inputs=[outcomponents_alt, idx], outputs=[out_alt], device=device
+                )
+
+            tape.backward(loss=out)
+            p_grad = 1.0 * tape.gradients[p].numpy()[0]
+            r_grad = 1.0 * tape.gradients[r].numpy()[0]
+            s_grad = 1.0 * tape.gradients[s].numpy()[0]
+            tape.zero()
+
+            tape.backward(loss=out_alt)
+            p_grad_alt = 1.0 * tape.gradients[p].numpy()[0]
+            r_grad_alt = 1.0 * tape.gradients[r].numpy()[0]
+            s_grad_alt = 1.0 * tape.gradients[s].numpy()[0]
+            tape.zero()
+
+            assert_np_equal(p_grad, p_grad_alt, tol=tol)
+            assert_np_equal(r_grad, r_grad_alt, tol=tol)
+            assert_np_equal(s_grad, s_grad_alt, tol=tol)
+
+            idx = idx + 1
+
+
+def test_negation(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+    mat55 = wp.types.matrix(shape=(5, 5), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_negation(
+        m2: wp.array(dtype=mat22),
+        m3: wp.array(dtype=mat33),
+        m4: wp.array(dtype=mat44),
+        m5: wp.array(dtype=mat55),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        mat2 = -m2[0]
+        mat3 = -m3[0]
+        mat4 = -m4[0]
+        mat5 = -m5[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(2):
+            for j in range(2):
+                outcomponents[idx] = wptype(2) * mat2[i, j]
+                idx = idx + 1
+
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * mat3[i, j]
+                idx = idx + 1
+
+        for i in range(4):
+            for j in range(4):
+                outcomponents[idx] = wptype(2) * mat4[i, j]
+                idx = idx + 1
+
+        for i in range(5):
+            for j in range(5):
+                outcomponents[idx] = wptype(2) * mat5[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_negation, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    m2 = wp.array(randvals(rng, [1, 2, 2], dtype), dtype=mat22, requires_grad=True, device=device)
+    m3 = wp.array(randvals(rng, [1, 3, 3], dtype), dtype=mat33, requires_grad=True, device=device)
+    m4 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=True, device=device)
+    m5 = wp.array(randvals(rng, [1, 5, 5], dtype), dtype=mat55, requires_grad=True, device=device)
+    outcomponents = wp.zeros(2 * 2 + 3 * 3 + 4 * 4 + 5 * 5, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m2, m3, m4, m5], outputs=[outcomponents], device=device)
+
+    assert_np_equal(outcomponents.numpy()[:4], -2 * m2.numpy().reshape(-1), tol=tol)
+    assert_np_equal(outcomponents.numpy()[4:13], -2 * m3.numpy().reshape(-1), tol=tol)
+    assert_np_equal(outcomponents.numpy()[13:29], -2 * m4.numpy().reshape(-1), tol=tol)
+    assert_np_equal(outcomponents.numpy()[29:54], -2 * m5.numpy().reshape(-1), tol=tol)
+
+    if dtype in np_float_types:
+        idx = 0
+        out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        for dim, input in [(2, m2), (3, m3), (4, m4), (5, m5)]:
+            for i in range(dim):
+                for j in range(dim):
+                    tape = wp.Tape()
+                    with tape:
+                        wp.launch(kernel, dim=1, inputs=[m2, m3, m4, m5], outputs=[outcomponents], device=device)
+                        wp.launch(
+                            output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device
+                        )
+                    tape.backward(loss=out)
+                    expectedresult = np.zeros((dim, dim), dtype=dtype)
+                    expectedresult[i, j] = -2
+                    assert_np_equal(tape.gradients[input].numpy()[0], expectedresult)
+                    tape.zero()
+                    idx = idx + 1
+
+
+def test_matmul(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-12,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+    mat23 = wp.types.matrix(shape=(2, 3), dtype=wptype)
+    mat32 = wp.types.matrix(shape=(3, 2), dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_mul(
+        i23: wp.array(dtype=mat23),
+        i32: wp.array(dtype=mat32),
+        i44: wp.array(dtype=mat44),
+        o22: wp.array(dtype=mat22),
+        o33: wp.array(dtype=mat33),
+        o44: wp.array(dtype=mat44),
+    ):
+        i = wp.tid()
+        o22[i] = i23[i] @ i32[i]
+        o33[i] = i32[i] @ i23[i]
+        o44[i] = i44[i] @ i44[i]
+
+    kernel = getkernel(check_mat_mul, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    test_adj = dtype in np_float_types
+
+    i23 = wp.array(randvals(rng, [1, 2, 3], dtype), dtype=mat23, requires_grad=test_adj, device=device)
+    i32 = wp.array(randvals(rng, [1, 3, 2], dtype), dtype=mat32, requires_grad=test_adj, device=device)
+    i44 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=test_adj, device=device)
+    o22 = wp.array(randvals(rng, [1, 2, 2], dtype), dtype=mat22, requires_grad=test_adj, device=device)
+    o33 = wp.array(randvals(rng, [1, 3, 3], dtype), dtype=mat33, requires_grad=test_adj, device=device)
+    o44 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=test_adj, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[i23, i32, i44],
+            outputs=[o22, o33, o44],
+            device=device,
+        )
+
+    assert_np_equal(o22.numpy(), i23.numpy() @ i32.numpy(), tol=tol)
+    assert_np_equal(o33.numpy(), i32.numpy() @ i23.numpy(), tol=tol)
+    assert_np_equal(o44.numpy(), i44.numpy() @ i44.numpy(), tol=tol)
+
+    if test_adj:
+        o22.grad.assign([np.eye(2)])
+        o33.grad.assign([np.eye(3)])
+        o44.grad.assign([np.eye(4)])
+
+        tape.backward()
+
+        assert_np_equal(i23.grad.numpy(), 2.0 * i32.numpy().T, tol=tol)
+        assert_np_equal(i32.grad.numpy(), 2.0 * i23.numpy().T, tol=tol)
+        assert_np_equal(i44.grad.numpy(), 2.0 * i44.numpy().T, tol=tol)
+
+
+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.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+    mat55 = wp.types.matrix(shape=(5, 5), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_sub(
+        s2: wp.array(dtype=mat22),
+        s3: wp.array(dtype=mat33),
+        s4: wp.array(dtype=mat44),
+        s5: wp.array(dtype=mat55),
+        v2: wp.array(dtype=mat22),
+        v3: wp.array(dtype=mat33),
+        v4: wp.array(dtype=mat44),
+        v5: wp.array(dtype=mat55),
+        outcomponents: 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 we've got something to backpropagate:
+        idx = 0
+        for i in range(2):
+            for j in range(2):
+                outcomponents[idx] = wptype(2) * v2result[i, j]
+                idx = idx + 1
+
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * v3result[i, j]
+                idx = idx + 1
+
+        for i in range(4):
+            for j in range(4):
+                outcomponents[idx] = wptype(2) * v4result[i, j]
+                idx = idx + 1
+
+        for i in range(5):
+            for j in range(5):
+                outcomponents[idx] = wptype(2) * v5result[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_sub, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    s2 = wp.array(randvals(rng, [1, 2, 2], dtype), dtype=mat22, requires_grad=True, device=device)
+    s3 = wp.array(randvals(rng, [1, 3, 3], dtype), dtype=mat33, requires_grad=True, device=device)
+    s4 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=True, device=device)
+    s5 = wp.array(randvals(rng, [1, 5, 5], dtype), dtype=mat55, requires_grad=True, device=device)
+    v2 = wp.array(randvals(rng, [1, 2, 2], dtype), dtype=mat22, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, [1, 3, 3], dtype), dtype=mat33, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, [1, 5, 5], dtype), dtype=mat55, requires_grad=True, device=device)
+    outcomponents = wp.zeros(2 * 2 + 3 * 3 + 4 * 4 + 5 * 5, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            s2,
+            s3,
+            s4,
+            s5,
+            v2,
+            v3,
+            v4,
+            v5,
+        ],
+        outputs=[outcomponents],
+        device=device,
+    )
+
+    assert_np_equal(outcomponents.numpy()[:4], 2 * (v2.numpy() - s2.numpy()).reshape(-1), tol=tol)
+    assert_np_equal(outcomponents.numpy()[4:13], 2 * (v3.numpy() - s3.numpy()).reshape(-1), tol=tol)
+    assert_np_equal(outcomponents.numpy()[13:29], 2 * (v4.numpy() - s4.numpy()).reshape(-1), tol=tol)
+    assert_np_equal(outcomponents.numpy()[29:54], 2 * (v5.numpy() - s5.numpy()).reshape(-1), tol=10 * tol)
+
+    if dtype in np_float_types:
+        idx = 0
+        out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        for dim, in1, in2 in [(2, s2, v2), (3, s3, v3), (4, s4, v4), (5, s5, v5)]:
+            for i in range(dim):
+                for j in range(dim):
+                    tape = wp.Tape()
+                    with tape:
+                        wp.launch(
+                            kernel,
+                            dim=1,
+                            inputs=[s2, s3, s4, s5, v2, v3, v4, v5],
+                            outputs=[outcomponents],
+                            device=device,
+                        )
+                        wp.launch(
+                            output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device
+                        )
+                    tape.backward(loss=out)
+                    expected_result = np.zeros((dim, dim), dtype=dtype)
+                    expected_result[i, j] = 2
+                    assert_np_equal(tape.gradients[in2].numpy()[0], expected_result, tol=10 * tol)
+                    expected_result[i, j] = -2
+                    assert_np_equal(tape.gradients[in1].numpy()[0], expected_result, tol=10 * tol)
+                    tape.zero()
+
+                    idx = idx + 1
+
+
+def test_determinant(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.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+
+    def check_mat_det(
+        v2: wp.array(dtype=mat22),
+        v3: wp.array(dtype=mat33),
+        v4: wp.array(dtype=mat44),
+        det2: wp.array(dtype=wptype),
+        det3: wp.array(dtype=wptype),
+        det4: wp.array(dtype=wptype),
+    ):
+        # multiply outputs by 2 so we've got something to backpropagate:
+        det2[0] = wptype(2) * wp.determinant(v2[0])
+        det3[0] = wptype(2) * wp.determinant(v3[0])
+        det4[0] = wptype(2) * wp.determinant(v4[0])
+
+    kernel = getkernel(check_mat_det, suffix=dtype.__name__)
+    if register_kernels:
+        return
+
+    v2 = wp.array(randvals(rng, [1, 2, 2], dtype), dtype=mat22, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, [1, 3, 3], dtype), dtype=mat33, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=True, device=device)
+    det2 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    det3 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    det4 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, dim=1, inputs=[v2, v3, v4], outputs=[det2, det3, det4], device=device)
+
+    if dtype in np_float_types:
+        assert_np_equal(det2.numpy()[0], 2 * np.linalg.det(v2.numpy()[0].astype(np.float64)), tol=100 * tol)
+        assert_np_equal(det3.numpy()[0], 2 * np.linalg.det(v3.numpy()[0].astype(np.float64)), tol=100 * tol)
+        assert_np_equal(det4.numpy()[0], 2 * np.linalg.det(v4.numpy()[0].astype(np.float64)), tol=420 * tol)
+    else:
+        assert_np_equal(det2.numpy()[0], 2 * np.around(np.linalg.det(v2.numpy()[0])).astype(int))
+        assert_np_equal(det3.numpy()[0], 2 * np.around(np.linalg.det(v3.numpy()[0])).astype(int))
+        assert_np_equal(det4.numpy()[0], 2 * np.around(np.linalg.det(v4.numpy()[0])).astype(int))
+
+    if dtype in np_float_types:
+        # determinant derivative formula is annoying so finite differences?
+        tape.backward(loss=det2)
+        v2grads = 1.0 * tape.gradients[v2].numpy()[0]
+        tape.zero()
+
+        tape.backward(loss=det3)
+        v3grads = 1.0 * tape.gradients[v3].numpy()[0]
+        tape.zero()
+
+        tape.backward(loss=det4)
+        v4grads = 1.0 * tape.gradients[v4].numpy()[0]
+        tape.zero()
+
+        # finite differences are also annoying hence the large tolerance...
+        # absolute nightmare in float16 too innit...
+        dx = 0.01 if dtype == np.float16 else 0.0001
+        fdtol = 2.0e-1 if dtype == np.float16 else 2.0e-3
+        for i in range(2):
+            for j in range(2):
+                v2test = v2.numpy()
+                v2test[0, i, j] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(v2test, dtype=v2.dtype, requires_grad=True, device=device), v3, v4],
+                    outputs=[det2, det3, det4],
+                    device=device,
+                )
+                dplus = det2.numpy()[0]
+                v2test[0, i, j] -= 2.0 * dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(v2test, dtype=v2.dtype, requires_grad=True, device=device), v3, v4],
+                    outputs=[det2, det3, det4],
+                    device=device,
+                )
+                dminus = det2.numpy()[0]
+                assert_np_equal((dplus - dminus) / (2.0 * dx * dplus), v2grads[i, j] / dplus, tol=fdtol)
+
+        for i in range(3):
+            for j in range(3):
+                v3test = v3.numpy()
+                v3test[0, i, j] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[v2, wp.array(v3test, dtype=v3.dtype, requires_grad=True, device=device), v4],
+                    outputs=[det2, det3, det4],
+                    device=device,
+                )
+                dplus = det3.numpy()[0]
+                v3test[0, i, j] -= 2.0 * dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[v2, wp.array(v3test, dtype=v3.dtype, requires_grad=True, device=device), v4],
+                    outputs=[det2, det3, det4],
+                    device=device,
+                )
+                dminus = det3.numpy()[0]
+                assert_np_equal((dplus - dminus) / (2.0 * dx * dplus), v3grads[i, j] / dplus, tol=fdtol)
+
+        for i in range(4):
+            for j in range(4):
+                v4test = v4.numpy()
+                v4test[0, i, j] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[v2, v3, wp.array(v4test, dtype=v4.dtype, requires_grad=True, device=device)],
+                    outputs=[det2, det3, det4],
+                    device=device,
+                )
+                dplus = det4.numpy()[0]
+                v4test[0, i, j] -= 2.0 * dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[v2, v3, wp.array(v4test, dtype=v4.dtype, requires_grad=True, device=device)],
+                    outputs=[det2, det3, det4],
+                    device=device,
+                )
+                dminus = det4.numpy()[0]
+                assert_np_equal((dplus - dminus) / (2.0 * dx * dplus), v4grads[i, j] / dplus, tol=fdtol)
+
+
+# Unused. Why?
+# def test_get_diag(test, device, dtype, register_kernels=False):
+#     tol = {
+#         np.float16: 1.0e-3,
+#         np.float32: 1.0e-6,
+#         np.float64: 1.0e-8,
+#     }.get(dtype, 0)
+#
+#     wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+#     mat55 = wp.types.vector(shape=(5, 5), dtype=wptype)
+#
+#     output_select_kernel = get_select_kernel(wptype)
+#
+#     def check_mat_diag(
+#         m55: wp.array(dtype=mat55),
+#         outcomponents: wp.array(dtype=wptype),
+#     ):
+#         # multiply outputs by 2 so we've got something to backpropagate:
+#         vec5result = wptype(2) * wp.get_diag(m55[0])
+#
+#         idx = 0
+#         for i in range(5):
+#             outcomponents[idx] = vec5result[i]
+#             idx = idx + 1
+#
+#     kernel = getkernel(check_mat_diag, suffix=dtype.__name__)
+#
+#     if register_kernels:
+#         return
+#
+#     m55 = wp.array(randvals((1, 5, 5), dtype), dtype=mat55, requires_grad=True, device=device)
+#     outcomponents = wp.zeros(5, dtype=wptype, requires_grad=True, device=device)
+#     out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+#
+#     wp.launch(kernel, dim=1, inputs=[m55], outputs=[outcomponents], device=device)
+#
+#     assert_np_equal(outcomponents.numpy(), 2 * np.diag(m55.numpy()[0]), tol=tol)
+#
+#     if dtype in np_float_types:
+#         idx = 0
+#         for i in range(5):
+#             tape = wp.Tape()
+#             with tape:
+#                 wp.launch(kernel, dim=1, inputs=[m55], outputs=[outcomponents], device=device)
+#                 wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+#             tape.backward(loss=out)
+#             expectedresult = np.zeros((5, 5), dtype=dtype)
+#             expectedresult[i, i] = 2
+#             assert_np_equal(tape.gradients[m55].numpy()[0], expectedresult, tol=10 * tol)
+#             tape.zero()
+#
+#             idx = idx + 1
+
+
+def test_inverse(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-2,
+        np.float32: 1.0e-5,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_inverse(
+        m2: wp.array(dtype=mat22),
+        m3: wp.array(dtype=mat33),
+        m4: wp.array(dtype=mat44),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        m2result = wp.inverse(m2[0])
+        m3result = wp.inverse(m3[0])
+        m4result = wp.inverse(m4[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(2):
+            for j in range(2):
+                outcomponents[idx] = wptype(2) * m2result[i, j]
+                idx = idx + 1
+
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * m3result[i, j]
+                idx = idx + 1
+
+        for i in range(4):
+            for j in range(4):
+                outcomponents[idx] = wptype(2) * m4result[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_inverse, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    m2 = wp.array(
+        2 * (randvals(rng, [1, 2, 2], dtype) + 0.2 * np.eye(2)), dtype=mat22, requires_grad=True, device=device
+    )
+    m3 = wp.array(
+        2 * (randvals(rng, [1, 3, 3], dtype) + 0.2 * np.eye(3)), dtype=mat33, requires_grad=True, device=device
+    )
+    m4 = wp.array(
+        2 * (randvals(rng, [1, 4, 4], dtype) + 0.2 * np.eye(4)), dtype=mat44, requires_grad=True, device=device
+    )
+
+    outcomponents = wp.zeros(2 * 2 + 3 * 3 + 4 * 4, dtype=wptype, requires_grad=True, device=device)
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m2, m3, m4], outputs=[outcomponents], device=device)
+
+    assert_np_equal(outcomponents.numpy()[:4], 2 * np.linalg.inv(m2.numpy()[0].astype(np.float64)), tol=tol)
+    assert_np_equal(outcomponents.numpy()[4:13], 2 * np.linalg.inv(m3.numpy()[0].astype(np.float64)), tol=5 * tol)
+    assert_np_equal(outcomponents.numpy()[13:], 2 * np.linalg.inv(m4.numpy()[0].astype(np.float64)), tol=5 * tol)
+
+    if dtype in np_float_types:
+        # check gradients:
+        idx = 0
+        out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        for dim, input in [(2, m2), (3, m3), (4, m4)]:
+            minv = np.linalg.inv(input.numpy()[0].astype(np.float64))
+            for i in range(dim):
+                for j in range(dim):
+                    tape = wp.Tape()
+                    with tape:
+                        wp.launch(kernel, dim=1, inputs=[m2, m3, m4], outputs=[outcomponents], device=device)
+                        wp.launch(
+                            output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device
+                        )
+                    tape.backward(loss=out)
+                    d = np.zeros((dim, dim))
+                    d[j, i] = 2
+                    assert_np_equal(
+                        tape.gradients[input].numpy()[0], -np.matmul(minv, np.matmul(d, minv)).T, tol=10 * tol
+                    )
+                    tape.zero()
+
+                    idx = idx + 1
+
+    # let's check 2x2 using different formulae just for (in)sanity's sake:
+    m = m2.numpy()[0]
+
+    det = m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]
+    expected = 2 * np.array([[m[1, 1], -m[0, 1]], [-m[1, 0], m[0, 0]]], dtype=dtype) / det
+    assert_np_equal(expected, outcomponents.numpy()[:4], tol=tol)
+
+    # 0,0 component is this:
+    # 2 * m[1,1] / (m[0,0]*m[1,1] - m[1,0] * m[0,1])
+    assert_np_equal(2 * m[1, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]), outcomponents.numpy()[0], tol=tol)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, dim=1, inputs=[m2, m3, m4], outputs=[outcomponents], device=device)
+        wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, 0], outputs=[out], device=device)
+
+    if dtype in np_float_types:
+        tape.backward(loss=out)
+        g = tape.gradients[m2].numpy()[0]
+        assert_np_equal(-2 * m[1, 1] * m[1, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 0], tol=tol)
+        assert_np_equal(2 * m[1, 1] * m[0, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 0], tol=tol)
+        assert_np_equal(-2 * m[0, 1] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 1], tol=tol)
+        assert_np_equal(2 * m[1, 1] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 1], tol=tol)
+        tape.zero()
+
+    # 0,1 component is this:
+    # -2 * m[0,1] / (m[0,0]*m[1,1] - m[1,0] * m[0,1])
+    assert_np_equal(-2 * m[0, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]), outcomponents.numpy()[1], tol=tol)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, dim=1, inputs=[m2, m3, m4], outputs=[outcomponents], device=device)
+        wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, 1], outputs=[out], device=device)
+    if dtype in np_float_types:
+        tape.backward(loss=out)
+        g = tape.gradients[m2].numpy()[0]
+        assert_np_equal(2 * m[0, 1] * m[1, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 0], tol=tol)
+        assert_np_equal(-2 * m[0, 1] * m[0, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 0], tol=tol)
+        assert_np_equal(2 * m[0, 0] * m[0, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 1], tol=tol)
+        assert_np_equal(-2 * m[1, 1] * m[0, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 1], tol=tol)
+        tape.zero()
+
+    # 1,0 component is this:
+    # -2 * m[1,0] / (m[0,0]*m[1,1] - m[1,0] * m[0,1])
+    assert_np_equal(-2 * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]), outcomponents.numpy()[2], tol=tol)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, dim=1, inputs=[m2, m3, m4], outputs=[outcomponents], device=device)
+        wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, 2], outputs=[out], device=device)
+
+    if dtype in np_float_types:
+        tape.backward(loss=out)
+        g = tape.gradients[m2].numpy()[0]
+        assert_np_equal(2 * m[1, 1] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 0], tol=tol)
+        assert_np_equal(-2 * m[0, 0] * m[1, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 0], tol=tol)
+        assert_np_equal(2 * m[0, 0] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 1], tol=tol)
+        assert_np_equal(-2 * m[1, 0] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 1], tol=tol)
+        tape.zero()
+
+    # 1,1 component is this:
+    # 2 * m[0,0] / (m[0,0]*m[1,1] - m[1,0] * m[0,1])
+    assert_np_equal(2 * m[0, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]), outcomponents.numpy()[3], tol=tol)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, dim=1, inputs=[m2, m3, m4], outputs=[outcomponents], device=device)
+        wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, 3], outputs=[out], device=device)
+
+    if dtype in np_float_types:
+        tape.backward(loss=out)
+        g = tape.gradients[m2].numpy()[0]
+        assert_np_equal(-2 * m[0, 1] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 0], tol=tol)
+        assert_np_equal(2 * m[0, 0] * m[0, 1] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 0], tol=tol)
+        assert_np_equal(2 * m[0, 0] * m[1, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[0, 1], tol=tol)
+        assert_np_equal(-2 * m[0, 0] * m[0, 0] / (m[0, 0] * m[1, 1] - m[1, 0] * m[0, 1]) ** 2, g[1, 1], tol=tol)
+        tape.zero()
+
+
+def test_svd(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-12,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+
+    def check_mat_svd(
+        m3: wp.array(dtype=mat33),
+        Uout: wp.array(dtype=mat33),
+        sigmaout: wp.array(dtype=vec3),
+        Vout: wp.array(dtype=mat33),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        U = mat33()
+        sigma = vec3()
+        V = mat33()
+
+        wp.svd3(m3[0], U, sigma, V)
+
+        Uout[0] = U
+        sigmaout[0] = sigma
+        Vout[0] = V
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * U[i, j]
+                idx = idx + 1
+
+        for i in range(3):
+            outcomponents[idx] = wptype(2) * sigma[i]
+            idx = idx + 1
+
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * V[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_svd, suffix=dtype.__name__)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    m3 = wp.array(randvals(rng, [1, 3, 3], dtype) + np.eye(3), dtype=mat33, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(2 * 3 * 3 + 3, dtype=wptype, requires_grad=True, device=device)
+    Uout = wp.zeros(1, dtype=mat33, requires_grad=True, device=device)
+    sigmaout = wp.zeros(1, dtype=vec3, requires_grad=True, device=device)
+    Vout = wp.zeros(1, dtype=mat33, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m3], outputs=[Uout, sigmaout, Vout, outcomponents], device=device)
+
+    Uout_np = Uout.numpy()[0].astype(np.float64)
+    sigmaout_np = np.diag(sigmaout.numpy()[0].astype(np.float64))
+    Vout_np = Vout.numpy()[0].astype(np.float64)
+
+    assert_np_equal(
+        np.matmul(Uout_np, np.matmul(sigmaout_np, Vout_np.T)), m3.numpy()[0].astype(np.float64), tol=30 * tol
+    )
+
+    if dtype == np.float16:
+        # I'm not even going to bother testing the gradients for float16
+        # because the rounding errors are terrible...
+        return
+
+    # check gradients:
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for idx in range(3 * 3 + 3 + 3 * 3):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[m3], outputs=[Uout, sigmaout, Vout, outcomponents], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+        tape.backward(out)
+        m3grads = 1.0 * tape.gradients[m3].numpy()[0]
+
+        tape.zero()
+
+        dx = 0.0001
+        fdtol = 5.0e-4 if dtype == np.float64 else 2.0e-2
+        for ii in range(3):
+            for jj in range(3):
+                m3test = 1.0 * m3.numpy()
+                m3test[0, ii, jj] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m3test, dtype=mat33, device=device)],
+                    outputs=[Uout, sigmaout, Vout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                plusval = out.numpy()[0]
+
+                m3test = 1.0 * m3.numpy()
+                m3test[0, ii, jj] -= dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m3test, dtype=mat33, device=device)],
+                    outputs=[Uout, sigmaout, Vout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                minusval = out.numpy()[0]
+
+                assert_np_equal((plusval - minusval) / (2 * dx), m3grads[ii, jj], tol=fdtol)
+
+
+def test_svd_2D(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-12,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp.types.vector(length=2, dtype=wptype)
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wptype)
+
+    def check_mat_svd2(
+        m2: wp.array(dtype=mat22),
+        Uout: wp.array(dtype=mat22),
+        sigmaout: wp.array(dtype=vec2),
+        Vout: wp.array(dtype=mat22),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        U = mat22()
+        sigma = vec2()
+        V = mat22()
+
+        wp.svd2(m2[0], U, sigma, V)  # Assuming there's a 2D SVD kernel
+
+        Uout[0] = U
+        sigmaout[0] = sigma
+        Vout[0] = V
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(2):
+            for j in range(2):
+                outcomponents[idx] = wptype(2) * U[i, j]
+                idx = idx + 1
+
+        for i in range(2):
+            outcomponents[idx] = wptype(2) * sigma[i]
+            idx = idx + 1
+
+        for i in range(2):
+            for j in range(2):
+                outcomponents[idx] = wptype(2) * V[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_svd2, suffix=dtype.__name__)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    m2 = wp.array(randvals(rng, [1, 2, 2], dtype) + np.eye(2), dtype=mat22, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(2 * 2 * 2 + 2, dtype=wptype, requires_grad=True, device=device)
+    Uout = wp.zeros(1, dtype=mat22, requires_grad=True, device=device)
+    sigmaout = wp.zeros(1, dtype=vec2, requires_grad=True, device=device)
+    Vout = wp.zeros(1, dtype=mat22, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m2], outputs=[Uout, sigmaout, Vout, outcomponents], device=device)
+
+    Uout_np = Uout.numpy()[0].astype(np.float64)
+    sigmaout_np = np.diag(sigmaout.numpy()[0].astype(np.float64))
+    Vout_np = Vout.numpy()[0].astype(np.float64)
+
+    assert_np_equal(
+        np.matmul(Uout_np, np.matmul(sigmaout_np, Vout_np.T)), m2.numpy()[0].astype(np.float64), tol=30 * tol
+    )
+
+    if dtype == np.float16:
+        # Skip gradient check for float16 due to rounding errors
+        return
+
+    # Check gradients:
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for idx in range(2 * 2 + 2 + 2 * 2):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[m2], outputs=[Uout, sigmaout, Vout, outcomponents], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+        tape.backward(out)
+        m2grads = 1.0 * tape.gradients[m2].numpy()[0]
+
+        tape.zero()
+
+        dx = 0.0001
+        fdtol = 5.0e-4 if dtype == np.float64 else 2.0e-2
+        for ii in range(2):
+            for jj in range(2):
+                m2test = 1.0 * m2.numpy()
+                m2test[0, ii, jj] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m2test, dtype=mat22, device=device)],
+                    outputs=[Uout, sigmaout, Vout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                plusval = out.numpy()[0]
+
+                m2test = 1.0 * m2.numpy()
+                m2test[0, ii, jj] -= dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m2test, dtype=mat22, device=device)],
+                    outputs=[Uout, sigmaout, Vout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                minusval = out.numpy()[0]
+
+                assert_np_equal((plusval - minusval) / (2 * dx), m2grads[ii, jj], tol=fdtol)
+
+
+def test_qr(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 2.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-6,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+
+    def check_mat_qr(
+        m3: wp.array(dtype=mat33),
+        Qout: wp.array(dtype=mat33),
+        Rout: wp.array(dtype=mat33),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        Q = mat33()
+        R = mat33()
+
+        wp.qr3(m3[0], Q, R)
+
+        Qout[0] = Q
+        Rout[0] = R
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * Q[i, j]
+                idx = idx + 1
+
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * R[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_qr, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    m3 = wp.array(0.5 * (randvals(rng, [1, 3, 3], dtype) + np.eye(3)), dtype=mat33, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(2 * 3 * 3, dtype=wptype, requires_grad=True, device=device)
+    Qout = wp.zeros(1, dtype=mat33, requires_grad=True, device=device)
+    Rout = wp.zeros(1, dtype=mat33, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m3], outputs=[Qout, Rout, outcomponents], device=device)
+
+    Qout_np = Qout.numpy()[0].astype(np.float64)
+    Rout_np = Rout.numpy()[0].astype(np.float64)
+
+    # check it's actually a q and an r:
+    assert_np_equal(np.matmul(Qout_np.T, Qout_np), np.eye(3, dtype=np.float64), tol=tol)
+    assert_np_equal(Rout_np[1, [0]], np.zeros(1, dtype=np.float64), tol=tol)
+    assert_np_equal(Rout_np[2, [0, 1]], np.zeros(2, dtype=np.float64), tol=tol)
+
+    # check it's a factorization:
+    assert_np_equal(np.matmul(Qout_np, Rout_np), m3.numpy()[0].astype(np.float64), tol=30 * tol)
+
+    if dtype == np.float16:
+        # I'm not even going to bother testing the gradients for float16
+        # because the rounding errors are terrible...
+        return
+
+    # check gradients:
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for idx in range(len(outcomponents)):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[m3], outputs=[Qout, Rout, outcomponents], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+        tape.backward(out)
+        m3grads = 1.0 * tape.gradients[m3].numpy()[0]
+
+        tape.zero()
+
+        dx = 0.0001
+        fdtol = 5.0e-4 if dtype == np.float64 else 2.0e-2
+        for ii in range(3):
+            for jj in range(3):
+                m3test = 1.0 * m3.numpy()
+                m3test[0, ii, jj] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m3test, dtype=mat33, device=device)],
+                    outputs=[Qout, Rout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                plusval = out.numpy()[0]
+
+                m3test = 1.0 * m3.numpy()
+                m3test[0, ii, jj] -= dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m3test, dtype=mat33, device=device)],
+                    outputs=[Qout, Rout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                minusval = out.numpy()[0]
+
+                assert_np_equal((plusval - minusval) / (2 * dx), m3grads[ii, jj], tol=fdtol)
+
+
+def test_eig(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 4.0e-2,
+        np.float32: 1.0e-5,
+        np.float64: 1.0e-5,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    mat33 = wp.types.matrix(shape=(3, 3), dtype=wptype)
+
+    def check_mat_eig(
+        m3: wp.array(dtype=mat33),
+        Qout: wp.array(dtype=mat33),
+        dout: wp.array(dtype=vec3),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        Q = mat33()
+        d = vec3()
+
+        wp.eig3(m3[0] + wp.transpose(m3[0]), Q, d)
+
+        Qout[0] = Q
+        dout[0] = d
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * Q[i, j]
+                idx = idx + 1
+
+        for i in range(3):
+            outcomponents[idx] = wptype(2) * d[i]
+            idx = idx + 1
+
+    kernel = getkernel(check_mat_eig, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    m3_np = randvals(rng, [1, 3, 3], dtype) + np.eye(3, dtype=dtype)
+    m3 = wp.array(m3_np, dtype=mat33, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(3 * 3 + 3, dtype=wptype, requires_grad=True, device=device)
+    Qout = wp.zeros(1, dtype=mat33, requires_grad=True, device=device)
+    dout = wp.zeros(1, dtype=vec3, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m3], outputs=[Qout, dout, outcomponents], device=device)
+
+    Qout_np = Qout.numpy()[0].astype(np.float64)
+    dout_np = dout.numpy()[0].astype(np.float64)
+    Dout_np = np.diag(dout_np)
+
+    # check Q is orthogonal:
+    assert_np_equal(np.matmul(Qout_np.T, Qout_np), np.eye(3), tol=tol)
+
+    # check Q contains eigenvectors:
+    assert_np_equal(np.matmul(Qout_np, np.matmul(Dout_np, Qout_np.T)), (m3_np[0] + m3_np[0].transpose()), tol=tol)
+
+    if dtype == np.float16:
+        # I'm not even going to bother testing the gradients for float16
+        # because the rounding errors are terrible...
+        return
+
+    # check gradients:
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for idx in range(len(outcomponents)):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[m3], outputs=[Qout, dout, outcomponents], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+        tape.backward(out)
+        m3grads = 1.0 * tape.gradients[m3].numpy()[0]
+
+        tape.zero()
+
+        dx = 0.0001
+        fdtol = 5.0e-4 if dtype == np.float64 else 2.0e-2
+        for ii in range(3):
+            for jj in range(3):
+                m3test = 1.0 * m3.numpy()
+                m3test[0, ii, jj] += dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m3test, dtype=mat33, device=device)],
+                    outputs=[Qout, dout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                plusval = out.numpy()[0]
+
+                m3test = 1.0 * m3.numpy()
+                m3test[0, ii, jj] -= dx
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[wp.array(m3test, dtype=mat33, device=device)],
+                    outputs=[Qout, dout, outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                minusval = out.numpy()[0]
+
+                assert_np_equal((plusval - minusval) / (2 * dx), m3grads[ii, jj], tol=fdtol)
+
+
+def test_skew(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_skew(
+        v3: wp.array(dtype=vec3),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        m3result = wp.skew(v3[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(3):
+            for j in range(3):
+                outcomponents[idx] = wptype(2) * m3result[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_skew, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v3 = wp.array(randvals(rng, [1, 3], dtype), dtype=vec3, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(3 * 3, dtype=wptype, requires_grad=True, device=device)
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[v3], outputs=[outcomponents], device=device)
+
+    # make sure it gives you a cross product matrix:
+    crossprodmat = outcomponents.numpy().reshape(3, 3)
+    v = np.array([1, 0, 0])
+    assert_np_equal(
+        np.matmul(crossprodmat, np.array([1, 0, 0])).reshape(-1),
+        2 * np.cross(v3.numpy()[0], np.array([1, 0, 0])),
+        tol=tol,
+    )
+    assert_np_equal(
+        np.matmul(crossprodmat, np.array([0, 1, 0])).reshape(-1),
+        2 * np.cross(v3.numpy()[0], np.array([0, 1, 0])),
+        tol=tol,
+    )
+    assert_np_equal(
+        np.matmul(crossprodmat, np.array([0, 0, 1])).reshape(-1),
+        2 * np.cross(v3.numpy()[0], np.array([0, 0, 1])),
+        tol=tol,
+    )
+
+    # check it another way:
+    x0 = v3.numpy()[0, 0]
+    x1 = v3.numpy()[0, 1]
+    x2 = v3.numpy()[0, 2]
+    crossprodmat_expected = np.array(
+        [
+            [0, -x2, x1],
+            [x2, 0, -x0],
+            [-x1, x0, 0],
+        ],
+        dtype=dtype,
+    )
+    assert_np_equal(crossprodmat, 2 * crossprodmat_expected, tol=tol)
+
+    if dtype in np_float_types:
+        idx = 0
+        out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+        for i in range(3):
+            for j in range(3):
+                tape = wp.Tape()
+                with tape:
+                    wp.launch(kernel, dim=1, inputs=[v3], outputs=[outcomponents], device=device)
+                    wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+                tape.backward(loss=out)
+                if i == j:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.zeros(3))
+                elif [i, j] == [0, 1]:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.array([0, 0, -2]))
+                elif [i, j] == [1, 0]:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.array([0, 0, 2]))
+                elif [i, j] == [0, 2]:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.array([0, 2, 0]))
+                elif [i, j] == [2, 0]:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.array([0, -2, 0]))
+                elif [i, j] == [1, 2]:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.array([-2, 0, 0]))
+                elif [i, j] == [2, 1]:
+                    assert_np_equal(tape.gradients[v3].numpy()[0], np.array([2, 0, 0]))
+                tape.zero()
+
+                idx = idx + 1
+
+
+def test_transform_point(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.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_transform_point(
+        v3: wp.array(dtype=vec3),
+        m4: wp.array(dtype=mat44),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        # multiply outputs by 2 so we've got something to backpropagate:
+        presult = wptype(2) * wp.transform_point(m4[0], v3[0])
+
+        outcomponents[0] = presult[0]
+        outcomponents[1] = presult[1]
+        outcomponents[2] = presult[2]
+
+    kernel = getkernel(check_mat_transform_point, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v3 = wp.array(randvals(rng, [1, 3], dtype), dtype=vec3, requires_grad=True, device=device)
+    m4 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[v3, m4], outputs=[outcomponents], device=device)
+
+    v3homog = np.ones(4, dtype=dtype)
+    v3homog[:3] = v3.numpy()[0]
+    assert_np_equal(outcomponents.numpy(), 2 * np.matmul(m4.numpy()[0], v3homog)[:3], tol=10 * tol)
+
+    if dtype in np_float_types:
+        for j in range(3):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[v3, m4], outputs=[outcomponents], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, j], outputs=[out], device=device)
+            tape.backward(loss=out)
+
+            assert_np_equal(2 * m4.numpy()[0, j, :3], tape.gradients[v3].numpy(), tol=tol)
+            expected = np.zeros((4, 4), dtype=dtype)
+            expected[j, :3] = 2 * v3.numpy()
+            expected[j, 3] = 2
+            assert_np_equal(tape.gradients[m4].numpy(), expected, tol=tol)
+
+            tape.zero()
+
+
+def test_transform_vector(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.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    mat44 = wp.types.matrix(shape=(4, 4), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_transform_vector(
+        v3: wp.array(dtype=vec3),
+        m4: wp.array(dtype=mat44),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        # multiply outputs by 2 so we've got something to backpropagate:
+        presult = wptype(2) * wp.transform_vector(m4[0], v3[0])
+
+        outcomponents[0] = presult[0]
+        outcomponents[1] = presult[1]
+        outcomponents[2] = presult[2]
+
+    kernel = getkernel(check_mat_transform_vector, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v3 = wp.array(randvals(rng, [1, 3], dtype), dtype=vec3, requires_grad=True, device=device)
+    m4 = wp.array(randvals(rng, [1, 4, 4], dtype), dtype=mat44, requires_grad=True, device=device)
+
+    outcomponents = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[v3, m4], outputs=[outcomponents], device=device)
+
+    v3homog = np.zeros(4, dtype=dtype)
+    v3homog[:3] = v3.numpy()[0]
+    assert_np_equal(outcomponents.numpy(), 2 * np.matmul(m4.numpy()[0], v3homog)[:3], tol=10 * tol)
+
+    if dtype in np_float_types:
+        for j in range(3):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[v3, m4], outputs=[outcomponents], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, j], outputs=[out], device=device)
+            tape.backward(loss=out)
+
+            assert_np_equal(2 * m4.numpy()[0, j, :3], tape.gradients[v3].numpy(), tol=tol)
+            expected = np.zeros((4, 4), dtype=dtype)
+            expected[j, :3] = 2 * v3.numpy()
+            assert_np_equal(tape.gradients[m4].numpy(), expected, tol=tol)
+
+            tape.zero()
+
+
+def test_matrix_assign_inplace(test, device, dtype, register_kernels=False):
+    np_type = np.dtype(dtype)
+    wp_type = wp.types.np_dtype_to_warp_type[np_type]
+
+    vec2 = wp.types.vector(length=2, dtype=wp_type)
+    mat22 = wp.types.matrix(shape=(2, 2), dtype=wp_type)
+
+    def mattest_read_write_store(x: wp.array(dtype=wp_type), a: wp.array(dtype=mat22)):
+        tid = wp.tid()
+
+        t = a[tid]
+        t[0, 0] = x[tid]
+        a[tid] = t
+
+    def mattest_in_register(x: wp.array2d(dtype=mat22), y: wp.array(dtype=vec2)):
+        i, j = wp.tid()
+
+        a = mat22(wp_type(0.0))
+        a[0] = y[i]
+        a[1, 1] = wp_type(3.0)
+        x[i, j] = a
+
+    kernel_read_write_store = getkernel(mattest_read_write_store, suffix=dtype.__name__)
+    kernel_in_register = getkernel(mattest_in_register, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    a = wp.ones(1, dtype=mat22, device=device, requires_grad=True)
+    x = wp.full(1, value=2.0, dtype=wp_type, device=device, requires_grad=True)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel_read_write_store, dim=1, inputs=[x, a], device=device)
+
+    tape.backward(grads={a: wp.ones_like(a, requires_grad=False)})
+
+    assert_np_equal(a.numpy(), np.array([[[2.0, 1.0], [1.0, 1.0]]], dtype=np_type))
+    assert_np_equal(x.grad.numpy(), np.array([1.0], dtype=np_type))
+
+    tape.reset()
+
+    x = wp.zeros((1, 1), dtype=mat22, device=device, requires_grad=True)
+    y = wp.ones(1, dtype=vec2, device=device, requires_grad=True)
+
+    with tape:
+        wp.launch(kernel_in_register, dim=(1, 1), inputs=[x, y], device=device)
+
+    tape.backward(grads={x: wp.ones_like(x, requires_grad=False)})
+
+    assert_np_equal(x.numpy(), np.array([[[[1.0, 1.0], [0.0, 3.0]]]], dtype=np_type))
+    assert_np_equal(y.grad.numpy(), np.array([[1.0, 1.0]], dtype=np_type))
+
+
+# Test matrix constructors using explicit type (float16)
+# note that these tests are specifically not using generics / closure
+# args to create kernels dynamically (like the rest of this file)
+# as those use different code paths to resolve arg types which
+# has lead to regressions.
+@wp.kernel
+def test_constructors_explicit_precision():
+    # construction for custom matrix types
+    eye = wp.identity(dtype=wp.float16, n=2)
+    zeros = wp.matrix(shape=(2, 2), dtype=wp.float16)
+    custom = wp.matrix(wp.float16(0.0), wp.float16(1.0), wp.float16(2.0), wp.float16(3.0), shape=(2, 2))
+
+    for i in range(2):
+        for j in range(2):
+            if i == j:
+                wp.expect_eq(eye[i, j], wp.float16(1.0))
+            else:
+                wp.expect_eq(eye[i, j], wp.float16(0.0))
+
+            wp.expect_eq(zeros[i, j], wp.float16(0.0))
+            wp.expect_eq(custom[i, j], wp.float16(i) * wp.float16(2.0) + wp.float16(j))
+
+
+mat32d = wp.mat(shape=(3, 2), dtype=wp.float64)
+
+
+@wp.kernel
+def test_matrix_constructor_value_func():
+    a = wp.mat22()
+    b = wp.matrix(a, shape=(2, 2))
+    c = mat32d()
+    d = mat32d(c, shape=(3, 2))
+    e = mat32d(wp.float64(1.0), wp.float64(2.0), wp.float64(1.0), wp.float64(2.0), wp.float64(1.0), wp.float64(2.0))
+
+
+@wp.kernel
+def test_matrix_from_vecs():
+    m1 = wp.matrix_from_cols(
+        wp.vec3(1.0, 2.0, 3.0),
+        wp.vec3(4.0, 5.0, 6.0),
+        wp.vec3(7.0, 8.0, 9.0),
+    )
+    wp.expect_eq(m1[0, 0], 1.0)
+    wp.expect_eq(m1[0, 1], 4.0)
+    wp.expect_eq(m1[0, 2], 7.0)
+    wp.expect_eq(m1[1, 0], 2.0)
+    wp.expect_eq(m1[1, 1], 5.0)
+    wp.expect_eq(m1[1, 2], 8.0)
+    wp.expect_eq(m1[2, 0], 3.0)
+    wp.expect_eq(m1[2, 1], 6.0)
+    wp.expect_eq(m1[2, 2], 9.0)
+
+    m2 = wp.matrix_from_rows(
+        wp.vec3(1.0, 2.0, 3.0),
+        wp.vec3(4.0, 5.0, 6.0),
+        wp.vec3(7.0, 8.0, 9.0),
+    )
+    wp.expect_eq(m2[0, 0], 1.0)
+    wp.expect_eq(m2[0, 1], 2.0)
+    wp.expect_eq(m2[0, 2], 3.0)
+    wp.expect_eq(m2[1, 0], 4.0)
+    wp.expect_eq(m2[1, 1], 5.0)
+    wp.expect_eq(m2[1, 2], 6.0)
+    wp.expect_eq(m2[2, 0], 7.0)
+    wp.expect_eq(m2[2, 1], 8.0)
+    wp.expect_eq(m2[2, 2], 9.0)
+
+    m3 = wp.matrix_from_cols(
+        wp.vec3(1.0, 2.0, 3.0),
+        wp.vec3(4.0, 5.0, 6.0),
+    )
+    wp.expect_eq(m3[0, 0], 1.0)
+    wp.expect_eq(m3[0, 1], 4.0)
+    wp.expect_eq(m3[1, 0], 2.0)
+    wp.expect_eq(m3[1, 1], 5.0)
+    wp.expect_eq(m3[2, 0], 3.0)
+    wp.expect_eq(m3[2, 1], 6.0)
+
+    m4 = wp.matrix_from_rows(
+        wp.vec3(1.0, 2.0, 3.0),
+        wp.vec3(4.0, 5.0, 6.0),
+    )
+    wp.expect_eq(m4[0, 0], 1.0)
+    wp.expect_eq(m4[0, 1], 2.0)
+    wp.expect_eq(m4[0, 2], 3.0)
+    wp.expect_eq(m4[1, 0], 4.0)
+    wp.expect_eq(m4[1, 1], 5.0)
+    wp.expect_eq(m4[1, 2], 6.0)
+
+
+# Same as above but with a default (float/int) type
+# which tests some different code paths that
+# need to ensure types are correctly canonicalized
+# during codegen
+@wp.kernel
+def test_constructors_default_precision():
+    # construction for default (float) matrix types
+    eye = wp.identity(dtype=float, n=2)
+    zeros = wp.matrix(shape=(2, 2), dtype=float)
+    custom = wp.matrix(0.0, 1.0, 2.0, 3.0, shape=(2, 2))
+
+    for i in range(2):
+        for j in range(2):
+            if i == j:
+                wp.expect_eq(eye[i, j], 1.0)
+            else:
+                wp.expect_eq(eye[i, j], 0.0)
+
+            wp.expect_eq(zeros[i, j], 0.0)
+            wp.expect_eq(custom[i, j], float(i) * 2.0 + float(j))
+
+
+@wp.kernel
+def test_matrix_mutation(expected: wp.types.matrix(shape=(10, 3), dtype=float)):
+    m = wp.matrix(shape=(10, 3), dtype=float)
+
+    # test direct element indexing
+    m[0, 0] = 1.0
+    m[0, 1] = 2.0
+    m[0, 2] = 3.0
+
+    # The nested indexing (matrix->vector->scalar) below does not
+    # currently modify m because m[0] returns row vector by
+    # value rather than reference, this is different from NumPy
+    # which always returns by ref. Not clear how we can support
+    # this as well as auto-diff.
+
+    # m[0][1] = 2.0
+    # m[0][2] = 3.0
+
+    # test setting rows
+    for i in range(1, 10):
+        m[i] = m[i - 1] + wp.vec3(1.0, 2.0, 3.0)
+
+    wp.expect_eq(m, expected)
+
+
+# NOTE: Compile tile is highly sensitive to shape so we use small values now
+CONSTANT_SHAPE_ROWS = wp.constant(2)
+CONSTANT_SHAPE_COLS = wp.constant(2)
+
+
+# tests that we can use global constants in shape keyword argument
+# for matrix constructor
+@wp.kernel
+def test_constructors_constant_shape():
+    m = wp.matrix(shape=(CONSTANT_SHAPE_ROWS, CONSTANT_SHAPE_COLS), dtype=float)
+
+    for i in range(CONSTANT_SHAPE_ROWS):
+        for j in range(CONSTANT_SHAPE_COLS):
+            m[i, j] = float(i * j)
+
+
+Mat23 = wp.mat((2, 3), dtype=wp.float16)
+
+
+@wp.kernel
+def matrix_len_kernel(
+    m1: wp.mat22, m2: wp.mat((3, 3), float), m3: wp.mat((Any, Any), float), m4: Mat23, out: wp.array(dtype=int)
+):
+    length = wp.static(len(m1))
+    wp.expect_eq(len(m1), 2)
+    out[0] = len(m1)
+
+    length = len(m2)
+    wp.expect_eq(wp.static(len(m2)), 3)
+    out[1] = len(m2)
+
+    length = len(m3)
+    wp.expect_eq(len(m3), 4)
+    out[2] = wp.static(len(m3))
+
+    length = wp.static(len(m4))
+    wp.expect_eq(wp.static(len(m4)), 2)
+    out[3] = wp.static(len(m4))
+
+    foo = wp.mat22()
+    length = len(foo)
+    wp.expect_eq(len(foo), 2)
+    out[4] = len(foo)
+
+
+def test_matrix_len(test, device):
+    m1 = wp.mat22()
+    m2 = wp.mat33()
+    m3 = wp.mat44()
+    m4 = Mat23()
+    out = wp.empty(5, dtype=int, device=device)
+    wp.launch(matrix_len_kernel, dim=(1,), inputs=(m1, m2, m3, m4), 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], 2)
+    test.assertEqual(out.numpy()[4], 2)
+
+    test.assertEqual(len(m1), 2)
+    test.assertEqual(len(m2), 3)
+    test.assertEqual(len(m3), 4)
+    test.assertEqual(len(m4), 2)
+
+
+@wp.kernel
+def matrix_augassign_kernel(
+    a: wp.array(dtype=wp.mat22),
+    b: wp.array(dtype=wp.mat22),
+    x: wp.array(dtype=wp.vec2),
+    c: wp.array(dtype=wp.mat22),
+    d: wp.array(dtype=wp.mat22),
+    y: wp.array(dtype=wp.vec2),
+):
+    i = wp.tid()
+
+    m1 = wp.mat22()
+    m2 = b[i]
+    v2 = x[i]
+
+    m1[0] += v2
+    m1[1, 0] += m2[1, 0]
+    m1[1, 1] += m2[1, 1]
+
+    a[i] = m1
+
+    m3 = wp.mat22()
+    m4 = d[i]
+    v4 = y[i]
+
+    m3[0] -= v4
+    m3[1, 0] -= m4[1, 0]
+    m3[1, 1] -= m4[1, 1]
+
+    c[i] = m3
+
+
+def test_matrix_augassign(test, device):
+    N = 1
+
+    a = wp.zeros(N, dtype=wp.mat22, requires_grad=True, device=device)
+    b = wp.ones(N, dtype=wp.mat22, requires_grad=True, device=device)
+    x = wp.ones(N, dtype=wp.vec2, requires_grad=True, device=device)
+
+    c = wp.zeros(N, dtype=wp.mat22, requires_grad=True, device=device)
+    d = wp.ones(N, dtype=wp.mat22, requires_grad=True, device=device)
+    y = wp.ones(N, dtype=wp.vec2, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(matrix_augassign_kernel, N, inputs=[a, b, x, c, d, y], device=device)
+
+    tape.backward(grads={a: wp.ones_like(a), c: wp.ones_like(c)})
+
+    assert_np_equal(a.numpy(), wp.ones_like(a).numpy())
+    assert_np_equal(a.grad.numpy(), wp.ones_like(a).numpy())
+    assert_np_equal(b.grad.numpy(), np.array([[[0, 0], [1, 1]]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1, 1]], dtype=float))
+
+    assert_np_equal(c.numpy(), -wp.ones_like(c).numpy())
+    assert_np_equal(c.grad.numpy(), wp.ones_like(c).numpy())
+    assert_np_equal(d.grad.numpy(), np.array([[[0, 0], [-1, -1]]], dtype=float))
+    assert_np_equal(y.grad.numpy(), np.array([[-1, -1]], dtype=float))
+
+
+def test_matrix_assign_copy(test, device):
+    saved_enable_vector_component_overwrites_setting = wp.config.enable_vector_component_overwrites
+    try:
+        wp.config.enable_vector_component_overwrites = True
+
+        @wp.kernel
+        def mat_in_register_overwrite(x: wp.array2d(dtype=wp.mat22), y: wp.array(dtype=wp.vec2)):
+            i, j = wp.tid()
+
+            a = wp.mat22()
+            a[0] = y[i]
+            a[0, 1] = 3.0
+            x[i, j] = a
+
+        x = wp.zeros((1, 1), dtype=wp.mat22, device=device, requires_grad=True)
+        y = wp.ones(1, dtype=wp.vec2, device=device, requires_grad=True)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(mat_in_register_overwrite, dim=(1, 1), inputs=[x, y], device=device)
+
+        tape.backward(grads={x: wp.ones_like(x, requires_grad=False)})
+
+        assert_np_equal(x.numpy(), np.array([[[[1.0, 3.0], [0.0, 0.0]]]], dtype=float))
+        assert_np_equal(y.grad.numpy(), np.array([[1.0, 0.0]], dtype=float))
+
+    finally:
+        wp.config.enable_vector_component_overwrites = saved_enable_vector_component_overwrites_setting
+
+
+devices = get_test_devices()
+
+
+class TestMat(unittest.TestCase):
+    def test_tpl_ops_with_anon(self):
+        mat22f = wp.mat((2, 2), dtype=float)
+
+        m = wp.mat22f(1.0, 2.0, 3.0, 4.0)
+        m += mat22f(2.0, 3.0, 4.0, 5.0)
+        m -= mat22f(3.0, 4.0, 5.0, 6.0)
+        self.assertSequenceEqual(m, ((0.0, 1.0), (2.0, 3.0)))
+
+        m = mat22f(1.0, 2.0, 3.0, 4.0)
+        m += wp.mat22f(2.0, 3.0, 4.0, 5.0)
+        m -= wp.mat22f(3.0, 4.0, 5.0, 6.0)
+        self.assertSequenceEqual(m, ((0.0, 1.0), (2.0, 3.0)))
+
+
+add_kernel_test(TestMat, test_constructors_explicit_precision, dim=1, devices=devices)
+add_kernel_test(TestMat, test_constructors_default_precision, dim=1, devices=devices)
+add_kernel_test(TestMat, test_constructors_constant_shape, dim=1, devices=devices)
+add_kernel_test(TestMat, test_matrix_constructor_value_func, dim=1, devices=devices)
+add_kernel_test(TestMat, test_matrix_from_vecs, dim=1, devices=devices)
+
+mat103 = wp.types.matrix(shape=(10, 3), dtype=float)
+add_kernel_test(
+    TestMat,
+    test_matrix_mutation,
+    dim=1,
+    inputs=[
+        mat103(
+            1.0, 2.0, 3.0,
+            2.0, 4.0, 6.0,
+            3.0, 6.0, 9.0,
+            4.0, 8.0, 12.0,
+            5.0, 10.0, 15.0,
+            6.0, 12.0, 18.0,
+            7.0, 14.0, 21.0,
+            8.0, 16.0, 24.0,
+            9.0, 18.0, 27.0,
+            10.0, 20.0, 30.0,
+        )
+    ],
+    devices=devices,
+)  # fmt: skip
+
+for dtype in np_signed_int_types + np_float_types:
+    add_function_test_register_kernel(
+        TestMat, f"test_negation_{dtype.__name__}", test_negation, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestMat, f"test_subtraction_{dtype.__name__}", test_subtraction, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestMat, f"test_matmul_{dtype.__name__}", test_matmul, devices=devices, dtype=dtype
+    )
+
+add_function_test(
+    TestMat,
+    "test_anon_constructor_error_shape_arg_missing",
+    test_anon_constructor_error_shape_arg_missing,
+    devices=devices,
+)
+add_function_test(
+    TestMat, "test_anon_constructor_error_shape_mismatch", test_anon_constructor_error_shape_mismatch, devices=devices
+)
+add_function_test(
+    TestMat, "test_anon_constructor_error_type_mismatch", test_anon_constructor_error_type_mismatch, devices=devices
+)
+add_function_test(
+    TestMat,
+    "test_anon_constructor_error_invalid_arg_count",
+    test_anon_constructor_error_invalid_arg_count,
+    devices=devices,
+)
+add_function_test(
+    TestMat,
+    "test_anon_xform_constructor_error_type_mismatch",
+    test_anon_xform_constructor_error_type_mismatch,
+    devices=devices,
+)
+add_function_test(
+    TestMat,
+    "test_tpl_constructor_error_incompatible_sizes",
+    test_tpl_constructor_error_incompatible_sizes,
+    devices=devices,
+)
+add_function_test(
+    TestMat,
+    "test_tpl_constructor_error_invalid_arg_count",
+    test_tpl_constructor_error_invalid_arg_count,
+    devices=devices,
+)
+
+for dtype in np_float_types:
+    add_function_test(
+        TestMat, f"test_py_arithmetic_ops_{dtype.__name__}", test_py_arithmetic_ops, devices=None, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestMat, f"test_quat_constructor_{dtype.__name__}", test_quat_constructor, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestMat, f"test_inverse_{dtype.__name__}", test_inverse, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(TestMat, f"test_svd_{dtype.__name__}", test_svd, devices=devices, dtype=dtype)
+    add_function_test_register_kernel(
+        TestMat, f"test_svd_2D{dtype.__name__}", test_svd_2D, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(TestMat, f"test_qr_{dtype.__name__}", test_qr, devices=devices, dtype=dtype)
+    add_function_test_register_kernel(TestMat, f"test_eig_{dtype.__name__}", test_eig, devices=devices, dtype=dtype)
+    add_function_test_register_kernel(
+        TestMat, f"test_transform_point_{dtype.__name__}", test_transform_point, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestMat, f"test_transform_vector_{dtype.__name__}", test_transform_vector, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestMat, f"test_determinant_{dtype.__name__}", test_determinant, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(TestMat, f"test_skew_{dtype.__name__}", test_skew, devices=devices, dtype=dtype)
+    add_function_test_register_kernel(
+        TestMat,
+        f"test_matrix_assign_inplace_{dtype.__name__}",
+        test_matrix_assign_inplace,
+        devices=devices,
+        dtype=dtype,
+    )
+add_function_test(TestMat, "test_matrix_len", test_matrix_len, devices=devices)
+add_function_test(TestMat, "test_matrix_augassign", test_matrix_augassign, devices=devices)
+add_function_test(TestMat, "test_matrix_assign_copy", test_matrix_assign_copy, devices=devices)
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2, failfast=True)