Af-misc-improvements

[afilazzola]

Found some ways to query the points rather than using matrices that were leading to crashes in high memory situations

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✨ Finishing touches

🧪 Generate unit tests

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch af-misc-improvements

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[afilazzola]

I couldn't get an example to work with or without the changes. It would be good to test with a library to completion