warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/tests/test_vec.py

@@ -0,0 +1,1487 @@
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+from typing import Any
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+np_signed_int_types = [
+    np.int8,
+    np.int16,
+    np.int32,
+    np.int64,
+    np.byte,
+]
+
+np_unsigned_int_types = [
+    np.uint8,
+    np.uint16,
+    np.uint32,
+    np.uint64,
+    np.ubyte,
+]
+
+np_float_types = [np.float16, np.float32, np.float64]
+
+
+def randvals(rng, shape, dtype):
+    if dtype in np_float_types:
+        return rng.standard_normal(size=shape).astype(dtype)
+    elif dtype in [np.int8, np.uint8, np.byte, np.ubyte]:
+        return rng.integers(1, high=3, size=shape, dtype=dtype)
+    return rng.integers(1, high=5, size=shape, dtype=dtype)
+
+
+kernel_cache = {}
+
+
+def getkernel(func, suffix=""):
+    key = func.__name__ + "_" + suffix
+    if key not in kernel_cache:
+        kernel_cache[key] = wp.Kernel(func=func, key=key)
+    return kernel_cache[key]
+
+
+def test_anon_constructor_error_length_mismatch(test, device):
+    @wp.kernel
+    def kernel():
+        wp.vector(
+            wp.vector(length=2, dtype=float),
+            length=3,
+            dtype=float,
+        )
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"incompatible vector of length 3 given when copy constructing a vector of length 2$",
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_anon_constructor_error_numeric_arg_missing(test, device):
+    @wp.kernel
+    def kernel():
+        wp.vector(1.0, 2.0, length=12345)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"incompatible number of values given \(2\) when constructing a vector of length 12345$",
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_anon_constructor_error_length_arg_missing(test, device):
+    @wp.kernel
+    def kernel():
+        wp.vector()
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"the `length` argument must be specified when zero-initializing a vector$",
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_anon_constructor_error_numeric_args_mismatch(test, device):
+    @wp.kernel
+    def kernel():
+        wp.vector(1.0, 2)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"all values given when constructing a vector must have the same type$",
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_tpl_constructor_error_incompatible_sizes(test, device):
+    @wp.kernel
+    def kernel():
+        wp.vec3(wp.vec2(1.0, 2.0))
+
+    with test.assertRaisesRegex(
+        RuntimeError, "incompatible vector of length 3 given when copy constructing a vector of length 2"
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_tpl_constructor_error_numeric_args_mismatch(test, device):
+    @wp.kernel
+    def kernel():
+        wp.vec2(1.0, 2)
+
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"all values given when constructing a vector must have the same type$",
+    ):
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[],
+            device=device,
+        )
+
+
+def test_negation(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp.types.vector(length=2, dtype=wptype)
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    vec4 = wp.types.vector(length=4, dtype=wptype)
+    vec5 = wp.types.vector(length=5, dtype=wptype)
+
+    def check_negation(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        v2out: wp.array(dtype=vec2),
+        v3out: wp.array(dtype=vec3),
+        v4out: wp.array(dtype=vec4),
+        v5out: wp.array(dtype=vec5),
+        v20: wp.array(dtype=wptype),
+        v21: wp.array(dtype=wptype),
+        v30: wp.array(dtype=wptype),
+        v31: wp.array(dtype=wptype),
+        v32: wp.array(dtype=wptype),
+        v40: wp.array(dtype=wptype),
+        v41: wp.array(dtype=wptype),
+        v42: wp.array(dtype=wptype),
+        v43: wp.array(dtype=wptype),
+        v50: wp.array(dtype=wptype),
+        v51: wp.array(dtype=wptype),
+        v52: wp.array(dtype=wptype),
+        v53: wp.array(dtype=wptype),
+        v54: wp.array(dtype=wptype),
+    ):
+        v2result = -v2[0]
+        v3result = -v3[0]
+        v4result = -v4[0]
+        v5result = -v5[0]
+
+        v2out[0] = v2result
+        v3out[0] = v3result
+        v4out[0] = v4result
+        v5out[0] = v5result
+
+        # multiply these outputs by 2 so we've got something to backpropagate:
+        v20[0] = wptype(2) * v2result[0]
+        v21[0] = wptype(2) * v2result[1]
+
+        v30[0] = wptype(2) * v3result[0]
+        v31[0] = wptype(2) * v3result[1]
+        v32[0] = wptype(2) * v3result[2]
+
+        v40[0] = wptype(2) * v4result[0]
+        v41[0] = wptype(2) * v4result[1]
+        v42[0] = wptype(2) * v4result[2]
+        v43[0] = wptype(2) * v4result[3]
+
+        v50[0] = wptype(2) * v5result[0]
+        v51[0] = wptype(2) * v5result[1]
+        v52[0] = wptype(2) * v5result[2]
+        v53[0] = wptype(2) * v5result[3]
+        v54[0] = wptype(2) * v5result[4]
+
+    kernel = getkernel(check_negation, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5_np = randvals(rng, (1, 5), dtype)
+    v5 = wp.array(v5_np, dtype=vec5, requires_grad=True, device=device)
+
+    v2out = wp.zeros(1, dtype=vec2, device=device)
+    v3out = wp.zeros(1, dtype=vec3, device=device)
+    v4out = wp.zeros(1, dtype=vec4, device=device)
+    v5out = wp.zeros(1, dtype=vec5, device=device)
+    v20 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v21 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v30 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v31 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v32 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v40 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v41 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v42 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v43 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v50 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v51 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v52 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v53 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v54 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[v2, v3, v4, v5],
+            outputs=[v2out, v3out, v4out, v5out, v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54],
+            device=device,
+        )
+
+    if dtype in np_float_types:
+        for i, l in enumerate([v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54]):
+            tape.backward(loss=l)
+            allgrads = np.concatenate([tape.gradients[v].numpy()[0] for v in [v2, v3, v4, v5]])
+            expected_grads = np.zeros_like(allgrads)
+            expected_grads[i] = -2
+            assert_np_equal(allgrads, expected_grads, tol=tol)
+            tape.zero()
+
+    assert_np_equal(v2out.numpy()[0], -v2.numpy()[0], tol=tol)
+    assert_np_equal(v3out.numpy()[0], -v3.numpy()[0], tol=tol)
+    assert_np_equal(v4out.numpy()[0], -v4.numpy()[0], tol=tol)
+    assert_np_equal(v5out.numpy()[0], -v5.numpy()[0], tol=tol)
+
+
+def test_subtraction_unsigned(test, device, dtype, register_kernels=False):
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp.types.vector(length=2, dtype=wptype)
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    vec4 = wp.types.vector(length=4, dtype=wptype)
+    vec5 = wp.types.vector(length=5, dtype=wptype)
+
+    def check_subtraction_unsigned():
+        wp.expect_eq(vec2(wptype(3), wptype(4)) - vec2(wptype(1), wptype(2)), vec2(wptype(2), wptype(2)))
+        wp.expect_eq(
+            vec3(
+                wptype(3),
+                wptype(4),
+                wptype(4),
+            )
+            - vec3(wptype(1), wptype(2), wptype(3)),
+            vec3(wptype(2), wptype(2), wptype(1)),
+        )
+        wp.expect_eq(
+            vec4(
+                wptype(3),
+                wptype(4),
+                wptype(4),
+                wptype(5),
+            )
+            - vec4(wptype(1), wptype(2), wptype(3), wptype(4)),
+            vec4(wptype(2), wptype(2), wptype(1), wptype(1)),
+        )
+        wp.expect_eq(
+            vec5(
+                wptype(3),
+                wptype(4),
+                wptype(4),
+                wptype(5),
+                wptype(4),
+            )
+            - vec5(wptype(1), wptype(2), wptype(3), wptype(4), wptype(4)),
+            vec5(wptype(2), wptype(2), wptype(1), wptype(1), wptype(0)),
+        )
+
+    kernel = getkernel(check_subtraction_unsigned, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    wp.launch(kernel, dim=1, inputs=[], outputs=[], device=device)
+
+
+def test_subtraction(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp.types.vector(length=2, dtype=wptype)
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    vec4 = wp.types.vector(length=4, dtype=wptype)
+    vec5 = wp.types.vector(length=5, dtype=wptype)
+
+    def check_subtraction(
+        s2: wp.array(dtype=vec2),
+        s3: wp.array(dtype=vec3),
+        s4: wp.array(dtype=vec4),
+        s5: wp.array(dtype=vec5),
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        v20: wp.array(dtype=wptype),
+        v21: wp.array(dtype=wptype),
+        v30: wp.array(dtype=wptype),
+        v31: wp.array(dtype=wptype),
+        v32: wp.array(dtype=wptype),
+        v40: wp.array(dtype=wptype),
+        v41: wp.array(dtype=wptype),
+        v42: wp.array(dtype=wptype),
+        v43: wp.array(dtype=wptype),
+        v50: wp.array(dtype=wptype),
+        v51: wp.array(dtype=wptype),
+        v52: wp.array(dtype=wptype),
+        v53: wp.array(dtype=wptype),
+        v54: wp.array(dtype=wptype),
+    ):
+        v2result = v2[0] - s2[0]
+        v3result = v3[0] - s3[0]
+        v4result = v4[0] - s4[0]
+        v5result = v5[0] - s5[0]
+
+        # multiply outputs by 2 so there's something to backpropagate:
+        v20[0] = wptype(2) * v2result[0]
+        v21[0] = wptype(2) * v2result[1]
+
+        v30[0] = wptype(2) * v3result[0]
+        v31[0] = wptype(2) * v3result[1]
+        v32[0] = wptype(2) * v3result[2]
+
+        v40[0] = wptype(2) * v4result[0]
+        v41[0] = wptype(2) * v4result[1]
+        v42[0] = wptype(2) * v4result[2]
+        v43[0] = wptype(2) * v4result[3]
+
+        v50[0] = wptype(2) * v5result[0]
+        v51[0] = wptype(2) * v5result[1]
+        v52[0] = wptype(2) * v5result[2]
+        v53[0] = wptype(2) * v5result[3]
+        v54[0] = wptype(2) * v5result[4]
+
+    kernel = getkernel(check_subtraction, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    s2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    s3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    s4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    s5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+    v20 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v21 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v30 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v31 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v32 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v40 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v41 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v42 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v43 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v50 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v51 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v52 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v53 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    v54 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[
+                s2,
+                s3,
+                s4,
+                s5,
+                v2,
+                v3,
+                v4,
+                v5,
+            ],
+            outputs=[v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54],
+            device=device,
+        )
+
+    assert_np_equal(v20.numpy()[0], 2 * (v2.numpy()[0, 0] - s2.numpy()[0, 0]), tol=tol)
+    assert_np_equal(v21.numpy()[0], 2 * (v2.numpy()[0, 1] - s2.numpy()[0, 1]), tol=tol)
+
+    assert_np_equal(v30.numpy()[0], 2 * (v3.numpy()[0, 0] - s3.numpy()[0, 0]), tol=tol)
+    assert_np_equal(v31.numpy()[0], 2 * (v3.numpy()[0, 1] - s3.numpy()[0, 1]), tol=tol)
+    assert_np_equal(v32.numpy()[0], 2 * (v3.numpy()[0, 2] - s3.numpy()[0, 2]), tol=tol)
+
+    assert_np_equal(v40.numpy()[0], 2 * (v4.numpy()[0, 0] - s4.numpy()[0, 0]), tol=2 * tol)
+    assert_np_equal(v41.numpy()[0], 2 * (v4.numpy()[0, 1] - s4.numpy()[0, 1]), tol=2 * tol)
+    assert_np_equal(v42.numpy()[0], 2 * (v4.numpy()[0, 2] - s4.numpy()[0, 2]), tol=2 * tol)
+    assert_np_equal(v43.numpy()[0], 2 * (v4.numpy()[0, 3] - s4.numpy()[0, 3]), tol=2 * tol)
+
+    assert_np_equal(v50.numpy()[0], 2 * (v5.numpy()[0, 0] - s5.numpy()[0, 0]), tol=tol)
+    assert_np_equal(v51.numpy()[0], 2 * (v5.numpy()[0, 1] - s5.numpy()[0, 1]), tol=tol)
+    assert_np_equal(v52.numpy()[0], 2 * (v5.numpy()[0, 2] - s5.numpy()[0, 2]), tol=tol)
+    assert_np_equal(v53.numpy()[0], 2 * (v5.numpy()[0, 3] - s5.numpy()[0, 3]), tol=tol)
+    assert_np_equal(v54.numpy()[0], 2 * (v5.numpy()[0, 4] - s5.numpy()[0, 4]), tol=tol)
+
+    if dtype in np_float_types:
+        for i, l in enumerate([v20, v21, v30, v31, v32, v40, v41, v42, v43, v50, v51, v52, v53, v54]):
+            tape.backward(loss=l)
+            sgrads = np.concatenate([tape.gradients[v].numpy()[0] for v in [s2, s3, s4, s5]])
+            expected_grads = np.zeros_like(sgrads)
+
+            expected_grads[i] = -2
+            assert_np_equal(sgrads, expected_grads, tol=10 * tol)
+
+            allgrads = np.concatenate([tape.gradients[v].numpy()[0] for v in [v2, v3, v4, v5]])
+            expected_grads = np.zeros_like(allgrads)
+
+            # d/dv v/s = 1/s
+            expected_grads[i] = 2
+            assert_np_equal(allgrads, expected_grads, tol=tol)
+
+            tape.zero()
+
+
+def test_length(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-7,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp.types.vector(length=2, dtype=wptype)
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    vec4 = wp.types.vector(length=4, dtype=wptype)
+    vec5 = wp.types.vector(length=5, dtype=wptype)
+
+    def check_length(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        l2: wp.array(dtype=wptype),
+        l3: wp.array(dtype=wptype),
+        l4: wp.array(dtype=wptype),
+        l5: wp.array(dtype=wptype),
+        l22: wp.array(dtype=wptype),
+        l23: wp.array(dtype=wptype),
+        l24: wp.array(dtype=wptype),
+        l25: wp.array(dtype=wptype),
+    ):
+        l2[0] = wptype(2) * wp.length(v2[0])
+        l3[0] = wptype(2) * wp.length(v3[0])
+        l4[0] = wptype(2) * wp.length(v4[0])
+        l5[0] = wptype(2) * wp.length(v5[0])
+
+        l22[0] = wptype(2) * wp.length_sq(v2[0])
+        l23[0] = wptype(2) * wp.length_sq(v3[0])
+        l24[0] = wptype(2) * wp.length_sq(v4[0])
+        l25[0] = wptype(2) * wp.length_sq(v5[0])
+
+    kernel = getkernel(check_length, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+
+    l2 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l3 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l4 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l5 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    l22 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l23 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l24 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    l25 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[
+                v2,
+                v3,
+                v4,
+                v5,
+            ],
+            outputs=[l2, l3, l4, l5, l22, l23, l24, l25],
+            device=device,
+        )
+
+    assert_np_equal(l2.numpy()[0], 2 * np.linalg.norm(v2.numpy()), tol=10 * tol)
+    assert_np_equal(l3.numpy()[0], 2 * np.linalg.norm(v3.numpy()), tol=10 * tol)
+    assert_np_equal(l4.numpy()[0], 2 * np.linalg.norm(v4.numpy()), tol=10 * tol)
+    assert_np_equal(l5.numpy()[0], 2 * np.linalg.norm(v5.numpy()), tol=10 * tol)
+
+    assert_np_equal(l22.numpy()[0], 2 * np.linalg.norm(v2.numpy()) ** 2, tol=10 * tol)
+    assert_np_equal(l23.numpy()[0], 2 * np.linalg.norm(v3.numpy()) ** 2, tol=10 * tol)
+    assert_np_equal(l24.numpy()[0], 2 * np.linalg.norm(v4.numpy()) ** 2, tol=10 * tol)
+    assert_np_equal(l25.numpy()[0], 2 * np.linalg.norm(v5.numpy()) ** 2, tol=10 * tol)
+
+    tape.backward(loss=l2)
+    grad = tape.gradients[v2].numpy()[0]
+    expected_grad = 2 * v2.numpy()[0] / np.linalg.norm(v2.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l3)
+    grad = tape.gradients[v3].numpy()[0]
+    expected_grad = 2 * v3.numpy()[0] / np.linalg.norm(v3.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l4)
+    grad = tape.gradients[v4].numpy()[0]
+    expected_grad = 2 * v4.numpy()[0] / np.linalg.norm(v4.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l5)
+    grad = tape.gradients[v5].numpy()[0]
+    expected_grad = 2 * v5.numpy()[0] / np.linalg.norm(v5.numpy())
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l22)
+    grad = tape.gradients[v2].numpy()[0]
+    expected_grad = 4 * v2.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l23)
+    grad = tape.gradients[v3].numpy()[0]
+    expected_grad = 4 * v3.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l24)
+    grad = tape.gradients[v4].numpy()[0]
+    expected_grad = 4 * v4.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+    tape.backward(loss=l25)
+    grad = tape.gradients[v5].numpy()[0]
+    expected_grad = 4 * v5.numpy()[0]
+    assert_np_equal(grad, expected_grad, tol=10 * tol)
+    tape.zero()
+
+
+def test_normalize(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec2 = wp.types.vector(length=2, dtype=wptype)
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+    vec4 = wp.types.vector(length=4, dtype=wptype)
+    vec5 = wp.types.vector(length=5, dtype=wptype)
+
+    def check_normalize(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        n20: wp.array(dtype=wptype),
+        n21: wp.array(dtype=wptype),
+        n30: wp.array(dtype=wptype),
+        n31: wp.array(dtype=wptype),
+        n32: wp.array(dtype=wptype),
+        n40: wp.array(dtype=wptype),
+        n41: wp.array(dtype=wptype),
+        n42: wp.array(dtype=wptype),
+        n43: wp.array(dtype=wptype),
+        n50: wp.array(dtype=wptype),
+        n51: wp.array(dtype=wptype),
+        n52: wp.array(dtype=wptype),
+        n53: wp.array(dtype=wptype),
+        n54: wp.array(dtype=wptype),
+    ):
+        n2 = wptype(2) * wp.normalize(v2[0])
+        n3 = wptype(2) * wp.normalize(v3[0])
+        n4 = wptype(2) * wp.normalize(v4[0])
+        n5 = wptype(2) * wp.normalize(v5[0])
+
+        n20[0] = n2[0]
+        n21[0] = n2[1]
+
+        n30[0] = n3[0]
+        n31[0] = n3[1]
+        n32[0] = n3[2]
+
+        n40[0] = n4[0]
+        n41[0] = n4[1]
+        n42[0] = n4[2]
+        n43[0] = n4[3]
+
+        n50[0] = n5[0]
+        n51[0] = n5[1]
+        n52[0] = n5[2]
+        n53[0] = n5[3]
+        n54[0] = n5[4]
+
+    def check_normalize_alt(
+        v2: wp.array(dtype=vec2),
+        v3: wp.array(dtype=vec3),
+        v4: wp.array(dtype=vec4),
+        v5: wp.array(dtype=vec5),
+        n20: wp.array(dtype=wptype),
+        n21: wp.array(dtype=wptype),
+        n30: wp.array(dtype=wptype),
+        n31: wp.array(dtype=wptype),
+        n32: wp.array(dtype=wptype),
+        n40: wp.array(dtype=wptype),
+        n41: wp.array(dtype=wptype),
+        n42: wp.array(dtype=wptype),
+        n43: wp.array(dtype=wptype),
+        n50: wp.array(dtype=wptype),
+        n51: wp.array(dtype=wptype),
+        n52: wp.array(dtype=wptype),
+        n53: wp.array(dtype=wptype),
+        n54: wp.array(dtype=wptype),
+    ):
+        n2 = wptype(2) * v2[0] / wp.length(v2[0])
+        n3 = wptype(2) * v3[0] / wp.length(v3[0])
+        n4 = wptype(2) * v4[0] / wp.length(v4[0])
+        n5 = wptype(2) * v5[0] / wp.length(v5[0])
+
+        n20[0] = n2[0]
+        n21[0] = n2[1]
+
+        n30[0] = n3[0]
+        n31[0] = n3[1]
+        n32[0] = n3[2]
+
+        n40[0] = n4[0]
+        n41[0] = n4[1]
+        n42[0] = n4[2]
+        n43[0] = n4[3]
+
+        n50[0] = n5[0]
+        n51[0] = n5[1]
+        n52[0] = n5[2]
+        n53[0] = n5[3]
+        n54[0] = n5[4]
+
+    normalize_kernel = getkernel(check_normalize, suffix=dtype.__name__)
+    normalize_alt_kernel = getkernel(check_normalize_alt, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    # I've already tested the things I'm using in check_normalize_alt, so I'll just
+    # make sure the two are giving the same results/gradients
+    v2 = wp.array(randvals(rng, (1, 2), dtype), dtype=vec2, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v4 = wp.array(randvals(rng, (1, 4), dtype), dtype=vec4, requires_grad=True, device=device)
+    v5 = wp.array(randvals(rng, (1, 5), dtype), dtype=vec5, requires_grad=True, device=device)
+
+    n20 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n21 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n30 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n31 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n32 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n40 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n41 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n42 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n43 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n50 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n51 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n52 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n53 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n54 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    n20_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n21_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n30_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n31_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n32_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n40_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n41_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n42_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n43_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n50_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n51_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n52_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n53_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    n54_alt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    outputs0 = [
+        n20,
+        n21,
+        n30,
+        n31,
+        n32,
+        n40,
+        n41,
+        n42,
+        n43,
+        n50,
+        n51,
+        n52,
+        n53,
+        n54,
+    ]
+    tape0 = wp.Tape()
+    with tape0:
+        wp.launch(
+            normalize_kernel,
+            dim=1,
+            inputs=[
+                v2,
+                v3,
+                v4,
+                v5,
+            ],
+            outputs=outputs0,
+            device=device,
+        )
+
+    outputs1 = [
+        n20_alt,
+        n21_alt,
+        n30_alt,
+        n31_alt,
+        n32_alt,
+        n40_alt,
+        n41_alt,
+        n42_alt,
+        n43_alt,
+        n50_alt,
+        n51_alt,
+        n52_alt,
+        n53_alt,
+        n54_alt,
+    ]
+    tape1 = wp.Tape()
+    with tape1:
+        wp.launch(
+            normalize_alt_kernel,
+            dim=1,
+            inputs=[
+                v2,
+                v3,
+                v4,
+                v5,
+            ],
+            outputs=outputs1,
+            device=device,
+        )
+
+    for ncmp, ncmpalt in zip(outputs0, outputs1):
+        assert_np_equal(ncmp.numpy()[0], ncmpalt.numpy()[0], tol=10 * tol)
+
+    invecs = [
+        v2,
+        v2,
+        v3,
+        v3,
+        v3,
+        v4,
+        v4,
+        v4,
+        v4,
+        v5,
+        v5,
+        v5,
+        v5,
+        v5,
+    ]
+    for ncmp, ncmpalt, v in zip(outputs0, outputs1, invecs):
+        tape0.backward(loss=ncmp)
+        tape1.backward(loss=ncmpalt)
+        assert_np_equal(tape0.gradients[v].numpy()[0], tape1.gradients[v].numpy()[0], tol=10 * tol)
+        tape0.zero()
+        tape1.zero()
+
+
+def test_crossproduct(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp.types.vector(length=3, dtype=wptype)
+
+    def check_cross(
+        s3: wp.array(dtype=vec3),
+        v3: wp.array(dtype=vec3),
+        c0: wp.array(dtype=wptype),
+        c1: wp.array(dtype=wptype),
+        c2: wp.array(dtype=wptype),
+    ):
+        c = wp.cross(s3[0], v3[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        c0[0] = wptype(2) * c[0]
+        c1[0] = wptype(2) * c[1]
+        c2[0] = wptype(2) * c[2]
+
+    kernel = getkernel(check_cross, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    s3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    v3 = wp.array(randvals(rng, (1, 3), dtype), dtype=vec3, requires_grad=True, device=device)
+    c0 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    c1 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    c2 = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[
+                s3,
+                v3,
+            ],
+            outputs=[c0, c1, c2],
+            device=device,
+        )
+
+    result = 2 * np.cross(s3.numpy(), v3.numpy())[0]
+    assert_np_equal(c0.numpy()[0], result[0], tol=10 * tol)
+    assert_np_equal(c1.numpy()[0], result[1], tol=10 * tol)
+    assert_np_equal(c2.numpy()[0], result[2], tol=10 * tol)
+
+    if dtype in np_float_types:
+        # c.x = sy vz - sz vy
+        # c.y = sz vx - sx vz
+        # c.z = sx vy - sy vx
+
+        # ( d/dsx d/dsy d/dsz )c.x = ( 0 vz -vy )
+        # ( d/dsx d/dsy d/dsz )c.y = ( -vz 0 vx )
+        # ( d/dsx d/dsy d/dsz )c.z = ( vy -vx 0 )
+
+        # ( d/dvx d/dvy d/dvz )c.x = (0 -sz sy)
+        # ( d/dvx d/dvy d/dvz )c.y = (sz 0 -sx)
+        # ( d/dvx d/dvy d/dvz )c.z = (-sy sx 0)
+
+        tape.backward(loss=c0)
+        assert_np_equal(
+            tape.gradients[s3].numpy(), 2.0 * np.array([0, v3.numpy()[0, 2], -v3.numpy()[0, 1]]), tol=10 * tol
+        )
+        assert_np_equal(
+            tape.gradients[v3].numpy(), 2.0 * np.array([0, -s3.numpy()[0, 2], s3.numpy()[0, 1]]), tol=10 * tol
+        )
+        tape.zero()
+
+        tape.backward(loss=c1)
+        assert_np_equal(
+            tape.gradients[s3].numpy(), 2.0 * np.array([-v3.numpy()[0, 2], 0, v3.numpy()[0, 0]]), tol=10 * tol
+        )
+        assert_np_equal(
+            tape.gradients[v3].numpy(), 2.0 * np.array([s3.numpy()[0, 2], 0, -s3.numpy()[0, 0]]), tol=10 * tol
+        )
+        tape.zero()
+
+        tape.backward(loss=c2)
+        assert_np_equal(
+            tape.gradients[s3].numpy(), 2.0 * np.array([v3.numpy()[0, 1], -v3.numpy()[0, 0], 0]), tol=10 * tol
+        )
+        assert_np_equal(
+            tape.gradients[v3].numpy(), 2.0 * np.array([-s3.numpy()[0, 1], s3.numpy()[0, 0], 0]), tol=10 * tol
+        )
+        tape.zero()
+
+
+def test_casting_constructors(test, device, dtype, register_kernels=False):
+    np_type = np.dtype(dtype)
+    wp_type = wp.types.np_dtype_to_warp_type[np_type]
+    vec3 = wp.types.vector(length=3, dtype=wp_type)
+
+    np16 = np.dtype(np.float16)
+    wp16 = wp.types.np_dtype_to_warp_type[np16]
+
+    np32 = np.dtype(np.float32)
+    wp32 = wp.types.np_dtype_to_warp_type[np32]
+
+    np64 = np.dtype(np.float64)
+    wp64 = wp.types.np_dtype_to_warp_type[np64]
+
+    def cast_float16(a: wp.array(dtype=wp_type, ndim=2), b: wp.array(dtype=wp16, ndim=2)):
+        tid = wp.tid()
+
+        v1 = vec3(a[tid, 0], a[tid, 1], a[tid, 2])
+        v2 = wp.vector(v1, dtype=wp16)
+
+        b[tid, 0] = v2[0]
+        b[tid, 1] = v2[1]
+        b[tid, 2] = v2[2]
+
+    def cast_float32(a: wp.array(dtype=wp_type, ndim=2), b: wp.array(dtype=wp32, ndim=2)):
+        tid = wp.tid()
+
+        v1 = vec3(a[tid, 0], a[tid, 1], a[tid, 2])
+        v2 = wp.vector(v1, dtype=wp32)
+
+        b[tid, 0] = v2[0]
+        b[tid, 1] = v2[1]
+        b[tid, 2] = v2[2]
+
+    def cast_float64(a: wp.array(dtype=wp_type, ndim=2), b: wp.array(dtype=wp64, ndim=2)):
+        tid = wp.tid()
+
+        v1 = vec3(a[tid, 0], a[tid, 1], a[tid, 2])
+        v2 = wp.vector(v1, dtype=wp64)
+
+        b[tid, 0] = v2[0]
+        b[tid, 1] = v2[1]
+        b[tid, 2] = v2[2]
+
+    kernel_16 = getkernel(cast_float16, suffix=dtype.__name__)
+    kernel_32 = getkernel(cast_float32, suffix=dtype.__name__)
+    kernel_64 = getkernel(cast_float64, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    # check casting to float 16
+    a = wp.array(np.ones((1, 3), dtype=np_type), dtype=wp_type, requires_grad=True, device=device)
+    b = wp.array(np.zeros((1, 3), dtype=np16), dtype=wp16, requires_grad=True, device=device)
+    b_result = np.ones((1, 3), dtype=np16)
+    b_grad = wp.array(np.ones((1, 3), dtype=np16), dtype=wp16, device=device)
+    a_grad = wp.array(np.ones((1, 3), dtype=np_type), dtype=wp_type, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel=kernel_16, dim=1, inputs=[a, b], device=device)
+
+    tape.backward(grads={b: b_grad})
+    out = tape.gradients[a].numpy()
+
+    assert_np_equal(b.numpy(), b_result)
+    assert_np_equal(out, a_grad.numpy())
+
+    # check casting to float 32
+    a = wp.array(np.ones((1, 3), dtype=np_type), dtype=wp_type, requires_grad=True, device=device)
+    b = wp.array(np.zeros((1, 3), dtype=np32), dtype=wp32, requires_grad=True, device=device)
+    b_result = np.ones((1, 3), dtype=np32)
+    b_grad = wp.array(np.ones((1, 3), dtype=np32), dtype=wp32, device=device)
+    a_grad = wp.array(np.ones((1, 3), dtype=np_type), dtype=wp_type, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel=kernel_32, dim=1, inputs=[a, b], device=device)
+
+    tape.backward(grads={b: b_grad})
+    out = tape.gradients[a].numpy()
+
+    assert_np_equal(b.numpy(), b_result)
+    assert_np_equal(out, a_grad.numpy())
+
+    # check casting to float 64
+    a = wp.array(np.ones((1, 3), dtype=np_type), dtype=wp_type, requires_grad=True, device=device)
+    b = wp.array(np.zeros((1, 3), dtype=np64), dtype=wp64, requires_grad=True, device=device)
+    b_result = np.ones((1, 3), dtype=np64)
+    b_grad = wp.array(np.ones((1, 3), dtype=np64), dtype=wp64, device=device)
+    a_grad = wp.array(np.ones((1, 3), dtype=np_type), dtype=wp_type, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel=kernel_64, dim=1, inputs=[a, b], device=device)
+
+    tape.backward(grads={b: b_grad})
+    out = tape.gradients[a].numpy()
+
+    assert_np_equal(b.numpy(), b_result)
+    assert_np_equal(out, a_grad.numpy())
+
+
+def test_vector_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)
+    vec3 = wp.types.vector(length=3, dtype=wp_type)
+    vec4 = wp.types.vector(length=4, dtype=wp_type)
+
+    def vectest_read_write_store(
+        x: wp.array(dtype=wp_type), a: wp.array(dtype=vec2), b: wp.array(dtype=vec3), c: wp.array(dtype=vec4)
+    ):
+        tid = wp.tid()
+
+        t = a[tid]
+        t[0] = x[tid]
+        a[tid] = t
+
+        u = b[tid]
+        u[1] = x[tid]
+        b[tid] = u
+
+        v = c[tid]
+        v[2] = x[tid]
+        c[tid] = v
+
+    def vectest_in_register(
+        x: wp.array(dtype=wp_type), y: wp.array(dtype=vec3), a: wp.array(dtype=vec2), b: wp.array(dtype=vec3)
+    ):
+        tid = wp.tid()
+
+        f = vec3(wp_type(0.0))
+        b_vec = b[tid]
+        f[0] = b_vec[1]
+        f[2] = b_vec[0] * b_vec[1]
+        y[tid] = f
+
+        g = wp_type(0.0)
+        a_vec = a[tid]
+        g = a_vec[0] + a_vec[1]
+        x[tid] = g
+
+    def vectest_component(x: wp.array(dtype=vec3), y: wp.array(dtype=wp_type)):
+        i = wp.tid()
+
+        a = vec3(wp_type(0.0))
+        a.x = wp_type(1.0) * y[i]
+        a.y = wp_type(2.0) * y[i]
+        a.z = wp_type(3.0) * y[i]
+        x[i] = a
+
+    kernel_read_write_store = getkernel(vectest_read_write_store, suffix=dtype.__name__)
+    kernel_in_register = getkernel(vectest_in_register, suffix=dtype.__name__)
+    kernel_component = getkernel(vectest_component, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    a = wp.ones(1, dtype=vec2, device=device, requires_grad=True)
+    b = wp.ones(1, dtype=vec3, device=device, requires_grad=True)
+    c = wp.ones(1, dtype=vec4, 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, b, c], device=device)
+
+    tape.backward(
+        grads={
+            a: wp.ones_like(a, requires_grad=False),
+            b: wp.ones_like(b, requires_grad=False),
+            c: wp.ones_like(c, requires_grad=False),
+        }
+    )
+
+    assert_np_equal(a.numpy(), np.array([[2.0, 1.0]], dtype=np_type))
+    assert_np_equal(b.numpy(), np.array([[1.0, 2.0, 1.0]], dtype=np_type))
+    assert_np_equal(c.numpy(), np.array([[1.0, 1.0, 2.0, 1.0]], dtype=np_type))
+    assert_np_equal(x.grad.numpy(), np.array([3.0], dtype=np_type))
+
+    tape.reset()
+
+    a = wp.ones(1, dtype=vec2, device=device, requires_grad=True)
+    b = wp.ones(1, dtype=vec3, device=device, requires_grad=True)
+    x = wp.zeros(1, dtype=wp_type, device=device, requires_grad=True)
+    y = wp.zeros(1, dtype=vec3, device=device, requires_grad=True)
+
+    with tape:
+        wp.launch(kernel_in_register, dim=1, inputs=[x, y, a, b], device=device)
+
+    tape.backward(grads={x: wp.ones_like(x, requires_grad=False), y: wp.ones_like(y, requires_grad=False)})
+
+    assert_np_equal(x.numpy(), np.array([2.0], dtype=np_type))
+    assert_np_equal(y.numpy(), np.array([[1.0, 0.0, 1.0]], dtype=np_type))
+    assert_np_equal(a.grad.numpy(), np.array([[1.0, 1.0]], dtype=np_type))
+    assert_np_equal(b.grad.numpy(), np.array([[1.0, 2.0, 0.0]], dtype=np_type))
+
+    tape.reset()
+
+    x = wp.zeros(1, dtype=vec3, device=device, requires_grad=True)
+    y = wp.ones(1, dtype=wp_type, device=device, requires_grad=True)
+
+    with tape:
+        wp.launch(kernel_component, dim=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, 2.0, 3.0]], dtype=np_type))
+    assert_np_equal(y.grad.numpy(), np.array([6.0], dtype=np_type))
+
+
+@wp.kernel
+def test_vector_constructor_value_func():
+    a = wp.vec2()
+    b = wp.vector(a, dtype=wp.float16)
+    c = wp.vector(a)
+    d = wp.vector(a, length=2)
+
+
+# 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
+    ones = wp.vector(wp.float16(1.0), length=2)
+    zeros = wp.vector(length=2, dtype=wp.float16)
+    custom = wp.vector(wp.float16(0.0), wp.float16(1.0))
+
+    for i in range(2):
+        wp.expect_eq(ones[i], wp.float16(1.0))
+        wp.expect_eq(zeros[i], wp.float16(0.0))
+        wp.expect_eq(custom[i], wp.float16(i))
+
+
+# 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 custom matrix types
+    ones = wp.vector(1.0, length=2)
+    zeros = wp.vector(length=2, dtype=float)
+    custom = wp.vector(0.0, 1.0)
+
+    for i in range(2):
+        wp.expect_eq(ones[i], 1.0)
+        wp.expect_eq(zeros[i], 0.0)
+        wp.expect_eq(custom[i], float(i))
+
+
+@wp.kernel
+def test_vector_mutation(expected: wp.types.vector(length=10, dtype=float)):
+    v = wp.vector(length=10, dtype=float)
+
+    # test element indexing
+    v[0] = 1.0
+
+    for i in range(1, 10):
+        v[i] = float(i) + 1.0
+
+    wp.expect_eq(v, expected)
+
+
+CONSTANT_LENGTH = wp.constant(10)
+
+
+# tests that we can use global constants in length keyword argument
+# for vector constructor
+@wp.kernel
+def test_constructors_constant_length():
+    v = wp.vector(length=(CONSTANT_LENGTH), dtype=float)
+
+    for i in range(CONSTANT_LENGTH):
+        v[i] = float(i)
+
+
+Vec123 = wp.vec(123, dtype=wp.float16)
+
+
+@wp.kernel
+def vector_len_kernel(
+    v1: wp.vec2,
+    v2: wp.vec(3, float),
+    v3: wp.vec(Any, float),
+    v4: Vec123,
+    out: wp.array(dtype=int),
+):
+    length = wp.static(len(v1))
+    wp.expect_eq(len(v1), 2)
+    out[0] = len(v1)
+
+    length = len(v2)
+    wp.expect_eq(wp.static(len(v2)), 3)
+    out[1] = len(v2)
+
+    length = len(v3)
+    wp.expect_eq(len(v3), 4)
+    out[2] = wp.static(len(v3))
+
+    length = wp.static(len(v4))
+    wp.expect_eq(wp.static(len(v4)), 123)
+    out[3] = wp.static(len(v4))
+
+    foo = wp.vec2()
+    length = len(foo)
+    wp.expect_eq(len(foo), 2)
+    out[4] = len(foo)
+
+
+def test_vector_len(test, device):
+    v1 = wp.vec2()
+    v2 = wp.vec3()
+    v3 = wp.vec4()
+    v4 = Vec123()
+    out = wp.empty(5, dtype=int, device=device)
+    wp.launch(vector_len_kernel, dim=(1,), inputs=(v1, v2, v3, v4), outputs=(out,), device=device)
+
+    test.assertEqual(out.numpy()[0], 2)
+    test.assertEqual(out.numpy()[1], 3)
+    test.assertEqual(out.numpy()[2], 4)
+    test.assertEqual(out.numpy()[3], 123)
+    test.assertEqual(out.numpy()[4], 2)
+
+
+@wp.kernel
+def vector_augassign_kernel(
+    a: wp.array(dtype=wp.vec3), b: wp.array(dtype=wp.vec3), c: wp.array(dtype=wp.vec3), d: wp.array(dtype=wp.vec3)
+):
+    i = wp.tid()
+
+    v1 = wp.vec3()
+    v2 = b[i]
+
+    v1[0] += v2[0]
+    v1[1] += v2[1]
+    v1[2] += v2[2]
+
+    a[i] = v1
+
+    v3 = wp.vec3()
+    v4 = d[i]
+
+    v3[0] -= v4[0]
+    v3[1] -= v4[1]
+    v3[2] -= v4[2]
+
+    c[i] = v3
+
+
+def test_vector_augassign(test, device):
+    N = 3
+
+    a = wp.zeros(N, dtype=wp.vec3, requires_grad=True, device=device)
+    b = wp.ones(N, dtype=wp.vec3, requires_grad=True, device=device)
+
+    c = wp.zeros(N, dtype=wp.vec3, requires_grad=True, device=device)
+    d = wp.ones(N, dtype=wp.vec3, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(vector_augassign_kernel, N, inputs=[a, b, c, d], 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(), wp.ones_like(a).numpy())
+
+    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(), -wp.ones_like(d).numpy())
+
+
+def test_vector_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 vec_in_register_overwrite(x: wp.array(dtype=wp.vec3), a: wp.array(dtype=wp.vec3)):
+            tid = wp.tid()
+
+            f = wp.vec3(0.0)
+            a_vec = a[tid]
+            f = a_vec
+            f[1] = 3.0
+
+            x[tid] = f
+
+        x = wp.zeros(1, dtype=wp.vec3, device=device, requires_grad=True)
+        a = wp.ones(1, dtype=wp.vec3, device=device, requires_grad=True)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(vec_in_register_overwrite, dim=1, inputs=[x, a], device=device)
+
+        tape.backward(grads={x: wp.ones_like(x, requires_grad=False)})
+
+        assert_np_equal(x.numpy(), np.array([[1.0, 3.0, 1.0]], dtype=float))
+        assert_np_equal(a.grad.numpy(), np.array([[1.0, 0.0, 1.0]], dtype=float))
+
+    finally:
+        wp.config.enable_vector_component_overwrites = saved_enable_vector_component_overwrites_setting
+
+
+devices = get_test_devices()
+
+
+class TestVec(unittest.TestCase):
+    def test_tpl_ops_with_anon(self):
+        vec3i = wp.vec(3, dtype=int)
+
+        v = wp.vec3i(1, 2, 3)
+        v += vec3i(2, 3, 4)
+        v -= vec3i(3, 4, 5)
+        self.assertSequenceEqual(v, (0, 1, 2))
+
+        v = vec3i(1, 2, 3)
+        v += wp.vec3i(2, 3, 4)
+        v -= wp.vec3i(3, 4, 5)
+        self.assertSequenceEqual(v, (0, 1, 2))
+
+
+add_kernel_test(TestVec, test_vector_constructor_value_func, dim=1, devices=devices)
+add_kernel_test(TestVec, test_constructors_explicit_precision, dim=1, devices=devices)
+add_kernel_test(TestVec, test_constructors_default_precision, dim=1, devices=devices)
+add_kernel_test(TestVec, test_constructors_constant_length, dim=1, devices=devices)
+
+vec10 = wp.types.vector(length=10, dtype=float)
+add_kernel_test(
+    TestVec,
+    test_vector_mutation,
+    dim=1,
+    inputs=[vec10(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0)],
+    devices=devices,
+)
+
+for dtype in np_unsigned_int_types:
+    add_function_test_register_kernel(
+        TestVec,
+        f"test_subtraction_unsigned_{dtype.__name__}",
+        test_subtraction_unsigned,
+        devices=devices,
+        dtype=dtype,
+    )
+
+for dtype in np_signed_int_types + np_float_types:
+    add_function_test_register_kernel(
+        TestVec, f"test_negation_{dtype.__name__}", test_negation, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec, f"test_subtraction_{dtype.__name__}", test_subtraction, devices=devices, dtype=dtype
+    )
+
+for dtype in np_float_types:
+    add_function_test_register_kernel(
+        TestVec, f"test_crossproduct_{dtype.__name__}", test_crossproduct, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec, f"test_length_{dtype.__name__}", test_length, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec, f"test_normalize_{dtype.__name__}", test_normalize, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestVec,
+        f"test_casting_constructors_{dtype.__name__}",
+        test_casting_constructors,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestVec,
+        f"test_vector_assign_inplace_{dtype.__name__}",
+        test_vector_assign_inplace,
+        devices=devices,
+        dtype=dtype,
+    )
+
+add_function_test(
+    TestVec,
+    "test_anon_constructor_error_length_mismatch",
+    test_anon_constructor_error_length_mismatch,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_anon_constructor_error_numeric_arg_missing",
+    test_anon_constructor_error_numeric_arg_missing,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_anon_constructor_error_length_arg_missing",
+    test_anon_constructor_error_length_arg_missing,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_anon_constructor_error_numeric_args_mismatch",
+    test_anon_constructor_error_numeric_args_mismatch,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_tpl_constructor_error_incompatible_sizes",
+    test_tpl_constructor_error_incompatible_sizes,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_tpl_constructor_error_numeric_args_mismatch",
+    test_tpl_constructor_error_numeric_args_mismatch,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_vector_len",
+    test_vector_len,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_vector_augassign",
+    test_vector_augassign,
+    devices=devices,
+)
+add_function_test(
+    TestVec,
+    "test_vector_assign_copy",
+    test_vector_assign_copy,
+    devices=devices,
+)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2, failfast=True)