hyperray 0.0.1__py3-none-any.whl

hyperdrone/_vendor/rl-tools/include/rl_tools/rendering/datasets/glb/operations_cpu.h

@@ -0,0 +1,1288 @@
+#include "../../../version.h"
+#include "../../../rl_tools.h"
+#if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_DATASETS_GLB_OPERATIONS_CPU_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
+#pragma once
+#define RL_TOOLS_RENDERING_DATASETS_GLB_OPERATIONS_CPU_H
+
+#include "glb.h"
+#include "../operations_cpu.h"
+#include "../../../mode/mode.h"
+
+// STATIC gives the stb implementation internal linkage so multiple TUs of one binary may include
+// this header without duplicate-symbol link errors; RL_TOOLS_STB_IMAGE_PROVIDED arbitrates with
+// other stb-providing headers (e.g. the test golden_io.h) so the implementation lands exactly
+// once per TU regardless of include order (stb's implementation section has no include guard).
+#ifndef RL_TOOLS_STB_IMAGE_PROVIDED
+#define RL_TOOLS_STB_IMAGE_PROVIDED
+#define STB_IMAGE_STATIC
+#define STB_IMAGE_IMPLEMENTATION
+#include "stb_image.h"
+#endif
+#include <assimp/Importer.hpp>
+#include <assimp/scene.h>
+#include <assimp/postprocess.h>
+#include <assimp/GltfMaterial.h>
+#include <nlohmann/json.hpp>
+
+#include <vector>
+#include <limits>
+#include <algorithm>
+#include <functional>
+#include <string>
+#include <map>
+#include <cmath>
+#include <cstring>
+#include <cstdio>
+#include <cstdint>
+#include <fstream>
+#include <filesystem>
+#include <iostream>
+
+RL_TOOLS_NAMESPACE_WRAPPER_START
+namespace rl_tools {
+    namespace mode::rendering{
+        template <typename T_BASE = mode::Final, typename T_SPEC = bool>
+        struct SceneRoots: T_BASE{ using BASE = T_BASE; using SPEC = T_SPEC; };
+    }
+    // =========================================================================
+    // Decode an embedded texture from assimp into RGBA8 pixels
+    // =========================================================================
+    namespace rendering::datasets::glb{
+        struct RepresentativeTextureColor {
+            float color[3] = {1.0f, 1.0f, 1.0f};
+        };
+
+        static inline float srgb_to_linear(unsigned char value) {
+            const float x = static_cast<float>(value) / 255.0f;
+            return x <= 0.04045f ? x / 12.92f : std::pow((x + 0.055f) / 1.055f, 2.4f);
+        }
+
+        static inline bool representative_texture_color(const std::vector<uint8_t>& pixels, int w, int h, RepresentativeTextureColor& out) {
+            if(w <= 0 || h <= 0 || pixels.size() < static_cast<size_t>(w) * static_cast<size_t>(h) * 4) {
+                return false;
+            }
+            double sum[3] = {0.0, 0.0, 0.0};
+            double weight_sum = 0.0;
+            for(int i = 0; i < w * h; i++) {
+                const double alpha = static_cast<double>(pixels[i * 4 + 3]) / 255.0;
+                sum[0] += static_cast<double>(srgb_to_linear(pixels[i * 4 + 0])) * alpha;
+                sum[1] += static_cast<double>(srgb_to_linear(pixels[i * 4 + 1])) * alpha;
+                sum[2] += static_cast<double>(srgb_to_linear(pixels[i * 4 + 2])) * alpha;
+                weight_sum += alpha;
+            }
+            if(weight_sum <= 0.0) {
+                for(int i = 0; i < w * h; i++) {
+                    sum[0] += static_cast<double>(srgb_to_linear(pixels[i * 4 + 0]));
+                    sum[1] += static_cast<double>(srgb_to_linear(pixels[i * 4 + 1]));
+                    sum[2] += static_cast<double>(srgb_to_linear(pixels[i * 4 + 2]));
+                }
+                weight_sum = static_cast<double>(w) * static_cast<double>(h);
+            }
+            out.color[0] = static_cast<float>(sum[0] / weight_sum);
+            out.color[1] = static_cast<float>(sum[1] / weight_sum);
+            out.color[2] = static_cast<float>(sum[2] / weight_sum);
+            return true;
+        }
+
+        static inline bool decode_embedded_texture(const aiTexture* tex,
+                                            std::vector<uint8_t>& pixels,
+                                            int& w, int& h){
+            if(tex->mHeight != 0){
+                w = tex->mWidth;
+                h = tex->mHeight;
+                pixels.resize(w * h * 4);
+                for(int i = 0; i < w * h; i++){
+                    pixels[i*4+0] = tex->pcData[i].r;
+                    pixels[i*4+1] = tex->pcData[i].g;
+                    pixels[i*4+2] = tex->pcData[i].b;
+                    pixels[i*4+3] = tex->pcData[i].a;
+                }
+                return true;
+            } else {
+                int channels;
+                unsigned char* data = stbi_load_from_memory(
+                    reinterpret_cast<const unsigned char*>(tex->pcData),
+                    tex->mWidth, &w, &h, &channels, 4);
+                if(!data) return false;
+                pixels.assign(data, data + w * h * 4);
+                stbi_image_free(data);
+                return true;
+            }
+        }
+
+        static inline bool decode_image_bytes(const std::vector<uint8_t>& bytes,
+                                              std::vector<uint8_t>& pixels,
+                                              int& w, int& h){
+            int channels;
+            unsigned char* data = stbi_load_from_memory(bytes.data(), (int)bytes.size(), &w, &h, &channels, 4);
+            if(!data) return false;
+            pixels.assign(data, data + (size_t)w * h * 4);
+            stbi_image_free(data);
+            return true;
+        }
+
+        static inline bool load_representative_texture_color(const aiScene* scene,
+                                                      const aiMaterial* mat,
+                                                      aiTextureType texture_type,
+                                                      std::map<std::string, RepresentativeTextureColor>& cache,
+                                                      RepresentativeTextureColor& out,
+                                                      size_t& decoded_count) {
+            if(mat == nullptr || mat->GetTextureCount(texture_type) == 0) {
+                return false;
+            }
+            aiString tex_path;
+            if(mat->GetTexture(texture_type, 0, &tex_path) != AI_SUCCESS) {
+                return false;
+            }
+            const std::string path_str(tex_path.C_Str());
+            if(path_str.empty()) {
+                return false;
+            }
+            const std::string cache_key = std::to_string(static_cast<int>(texture_type)) + ":" + path_str;
+            auto cached = cache.find(cache_key);
+            if(cached != cache.end()) {
+                out = cached->second;
+                return true;
+            }
+
+            int w = 0;
+            int h = 0;
+            std::vector<uint8_t> pixels;
+            const aiTexture* emb_tex = scene->GetEmbeddedTexture(tex_path.C_Str());
+            if(emb_tex) {
+                if(!decode_embedded_texture(emb_tex, pixels, w, h)) {
+                    return false;
+                }
+            }
+            else {
+                int channels = 0;
+                unsigned char* data = stbi_load(path_str.c_str(), &w, &h, &channels, 4);
+                if(!data) {
+                    return false;
+                }
+                pixels.assign(data, data + static_cast<size_t>(w) * static_cast<size_t>(h) * 4);
+                stbi_image_free(data);
+            }
+
+            if(!representative_texture_color(pixels, w, h, out)) {
+                return false;
+            }
+            cache[cache_key] = out;
+            decoded_count++;
+            return true;
+        }
+    }
+
+    // Lights are parsed from the raw GLB JSON instead of using Assimp's aiScene::mLights: Assimp's
+    // KHR_lights_punctual import associates lights to nodes by name and mangles per-light
+    // intensity/attenuation (see commit 8278f9a9 "removing assimp loading because it fumbled the lights").
+    namespace rendering::datasets::glb{
+        struct Material {
+            float metallic;
+            float roughness;
+            int metallic_roughness_image = -1; // glTF image index, -1 when the material has no MR texture
+        };
+        struct ParsedMetadata {
+            rendering::Scene::Environment environment;
+            bool environment_valid = true;
+            bool segmentation_valid = true;
+            size_t root_count = 0;
+            std::shared_ptr<const rendering::SegmentationTaxonomy> segmentation_taxonomy;
+            std::vector<uint32_t> root_classes;
+            std::vector<rendering::SceneLight> lights; // world frame (welded scene loads)
+            std::vector<std::vector<std::string>> light_paths; // per light, the node names from its node up to its scene root (nested-part loads)
+            std::map<int, std::vector<rendering::SceneLight>> root_lights; // by scene-root ordinal, in the root node's frame (assembly loads)
+            std::map<std::string, Material> materials; // by material name; glTF spec defaults when absent
+            struct MaterialExtensions{
+                float emissive_strength = 1.0f;
+                bool unlit = false;
+            };
+            std::vector<MaterialExtensions> material_extensions;
+            std::map<int, std::vector<uint8_t>> images; // encoded bytes of referenced MR images, by glTF image index
+        };
+
+        // Scene-owned linear RGB values; object/assembly imports do not adopt this environment.
+        static inline bool parse_environment(const nlohmann::json& gltf, rendering::Scene::Environment& environment){
+            const auto path = nlohmann::json::json_pointer("/scenes/" + std::to_string(gltf.value("scene", 0)) + "/extras/rl_tools/environment");
+            if(!gltf.contains(path)){
+                return true;
+            }
+            const auto& authored = gltf.at(path);
+            if(!authored.is_object() || !authored.contains("mode") || authored["mode"] != "solid"){
+                return false;
+            }
+            rendering::Scene::Environment parsed;
+            parsed.mode = rendering::Scene::Environment::Mode::SOLID;
+            const auto read_color = [&](const char* key, float destination[3]){
+                if(!authored.contains(key) || !authored[key].is_array() || authored[key].size() != 3){
+                    return false;
+                }
+                for(int component = 0; component < 3; component++){
+                    const auto& value = authored[key][component];
+                    if(!value.is_number()){
+                        return false;
+                    }
+                    const double number = value.get<double>();
+                    if(!(number >= 0 && number <= std::numeric_limits<float>::max())){
+                        return false;
+                    }
+                    destination[component] = static_cast<float>(number);
+                }
+                return true;
+            };
+            if(!read_color("ambient", parsed.ambient) || !read_color("background", parsed.horizon)){
+                return false;
+            }
+            environment = std::move(parsed);
+            return true;
+        }
+
+        static inline bool parse_segmentation_id(const nlohmann::json& value, uint32_t& id){
+            if(!value.is_number()){
+                return false;
+            }
+            const double number = value.get<double>();
+            if(!(number >= 0 && number < 4294967295.0)){
+                return false;
+            }
+            id = static_cast<uint32_t>(number);
+            return number == static_cast<double>(id);
+        }
+
+        static inline bool parse_segmentation(const nlohmann::json& gltf, ParsedMetadata& result){
+            try{
+                const auto& scene = gltf.at("scenes").at(gltf.value("scene", 0));
+                const auto roots = scene.value("nodes", nlohmann::json::array());
+                result.root_count = roots.size();
+                result.root_classes.assign(roots.size(), 0);
+                const auto path = nlohmann::json::json_pointer("/extras/rl_tools/segmentation");
+                if(scene.contains(path)){
+                    const auto& authored = scene.at(path);
+                    auto taxonomy = std::make_shared<rendering::SegmentationTaxonomy>();
+                    taxonomy->name = authored.at("taxonomy").get<std::string>();
+                    const auto& classes = authored.at("classes");
+                    if(taxonomy->name.empty() || !classes.is_object()){
+                        return false;
+                    }
+                    for(const auto& entry : classes.items()){
+                        uint32_t id;
+                        if(entry.key().empty() || !parse_segmentation_id(entry.value(), id) || !taxonomy->classes.emplace(id, entry.key()).second){
+                            return false;
+                        }
+                    }
+                    if(!taxonomy->classes.count(0)){
+                        return false;
+                    }
+                    result.segmentation_taxonomy = std::move(taxonomy);
+                }
+                for(size_t ordinal = 0; ordinal < roots.size(); ordinal++){
+                    const auto& node = gltf.at("nodes").at(roots[ordinal].get<size_t>());
+                    const auto class_path = nlohmann::json::json_pointer("/extras/rl_tools/segmentation_class");
+                    if(node.contains(class_path)){
+                        uint32_t id;
+                        if(!parse_segmentation_id(node.at(class_path), id) || !result.segmentation_taxonomy || !result.segmentation_taxonomy->classes.count(id)){
+                            return false;
+                        }
+                        result.root_classes[ordinal] = id;
+                    }
+                }
+                return true;
+            }
+            catch(const nlohmann::json::exception&){
+                return false;
+            }
+        }
+
+        // accumulates local transforms from the ancestors down to node_idx; stop_ancestor (when
+        // >= 0) is excluded, yielding the transform relative to that ancestor's frame
+        static inline void node_world_transform(const nlohmann::json& nodes, int node_idx, const std::vector<int>& parent_map, float out[16], int stop_ancestor = -1) {
+            float identity[16] = {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1};
+            std::memcpy(out, identity, sizeof(identity));
+
+            std::vector<int> chain;
+            for (int cur = node_idx; cur >= 0 && cur != stop_ancestor; cur = parent_map[cur]) chain.push_back(cur);
+
+            for (int i = (int)chain.size() - 1; i >= 0; i--) {
+                const auto& node = nodes[chain[i]];
+                float local[16];
+                if (node.contains("matrix")) {
+                    auto& m = node["matrix"];
+                    for (int j = 0; j < 16; j++) local[j] = m[j].get<float>();
+                } else {
+                    float tx = 0, ty = 0, tz = 0;
+                    float qx = 0, qy = 0, qz = 0, qw = 1;
+                    float sx = 1, sy = 1, sz = 1;
+                    if (node.contains("translation")) { auto& t = node["translation"]; tx = t[0]; ty = t[1]; tz = t[2]; }
+                    if (node.contains("rotation")) { auto& r = node["rotation"]; qx = r[0]; qy = r[1]; qz = r[2]; qw = r[3]; }
+                    if (node.contains("scale")) { auto& s = node["scale"]; sx = s[0]; sy = s[1]; sz = s[2]; }
+                    float r00 = (1 - 2*(qy*qy + qz*qz)) * sx, r01 = 2*(qx*qy - qw*qz) * sy, r02 = 2*(qx*qz + qw*qy) * sz;
+                    float r10 = 2*(qx*qy + qw*qz) * sx, r11 = (1 - 2*(qx*qx + qz*qz)) * sy, r12 = 2*(qy*qz - qw*qx) * sz;
+                    float r20 = 2*(qx*qz - qw*qy) * sx, r21 = 2*(qy*qz + qw*qx) * sy, r22 = (1 - 2*(qx*qx + qy*qy)) * sz;
+                    local[0]=r00; local[4]=r01; local[8]=r02;  local[12]=tx;
+                    local[1]=r10; local[5]=r11; local[9]=r12;  local[13]=ty;
+                    local[2]=r20; local[6]=r21; local[10]=r22; local[14]=tz;
+                    local[3]=0;   local[7]=0;   local[11]=0;   local[15]=1;
+                }
+                float tmp[16];
+                for (int r = 0; r < 4; r++)
+                    for (int c = 0; c < 4; c++)
+                        tmp[r + c*4] = out[r]*local[c*4] + out[r+4]*local[c*4+1] + out[r+8]*local[c*4+2] + out[r+12]*local[c*4+3];
+                std::memcpy(out, tmp, sizeof(tmp));
+            }
+        }
+
+        static inline void swizzle_gltf_direction_to_renderer(float dx, float dy, float dz, float out[3]) {
+            float len = sqrtf(dx*dx + dy*dy + dz*dz);
+            if (len <= 1e-6f) {
+                out[0] = 0.f;
+                out[1] = 0.f;
+                out[2] = 1.f;
+                return;
+            }
+            dx /= len;
+            dy /= len;
+            dz /= len;
+            out[0] = dx;
+            out[1] = -dz;
+            out[2] = dy;
+        }
+
+        static inline ParsedMetadata parse(const std::string& filename, const aiScene& imported_scene) {
+            ParsedMetadata result;
+            result.material_extensions.resize(imported_scene.mNumMaterials);
+            FILE* f = fopen(filename.c_str(), "rb");
+            if (!f) return result;
+
+            uint32_t header[3];
+            if (fread(header, 4, 3, f) != 3 || header[0] != 0x46546C67u) { fclose(f); return result; }
+
+            uint32_t chunk_header[2];
+            if (fread(chunk_header, 4, 2, f) != 2) { fclose(f); return result; }
+            uint32_t json_len = chunk_header[0];
+
+            std::string json_str(json_len, '\0');
+            if (fread(&json_str[0], 1, json_len, f) != json_len) { fclose(f); return result; }
+
+            // BIN chunk (glTF buffer 0) directly follows the JSON chunk; chunk lengths include padding
+            long bin_data_start = -1;
+            long bin_data_length = 0;
+            if (fread(chunk_header, 4, 2, f) == 2 && chunk_header[1] == 0x004E4942u) {
+                bin_data_start = 12 + 8 + (long)json_len + 8;
+                bin_data_length = (long)chunk_header[0];
+            }
+
+            nlohmann::json gltf = nlohmann::json::parse(json_str, nullptr, false);
+            if (gltf.is_discarded()) { fclose(f); return result; }
+            result.environment_valid = parse_environment(gltf, result.environment);
+            result.segmentation_valid = parse_segmentation(gltf, result);
+
+            // Assimp's defaults for absent glTF pbrMetallicRoughness factors vary across versions;
+            // the GLB JSON is authoritative here so scene import is identical on every machine.
+            // Absent factors resolve to the glTF spec default 1: exporters omit values equal to
+            // the default, which is why intentionally non-metallic materials carry an explicit
+            // metallicFactor of 0 while chrome/steel/gold-style materials omit it entirely.
+            if (gltf.contains("materials")) {
+                for (auto& material : gltf["materials"]) {
+                    if (!material.contains("name")) continue;
+                    Material material_import{1.0f, 1.0f};
+                    if (material.contains("pbrMetallicRoughness")) {
+                        auto& pbr = material["pbrMetallicRoughness"];
+                        if (pbr.contains("metallicFactor")) {
+                            material_import.metallic = pbr["metallicFactor"].get<float>();
+                        }
+                        if (pbr.contains("roughnessFactor")) {
+                            material_import.roughness = pbr["roughnessFactor"].get<float>();
+                        }
+                        if (pbr.contains("metallicRoughnessTexture") && pbr["metallicRoughnessTexture"].contains("index")) {
+                            const int texture_index = pbr["metallicRoughnessTexture"]["index"].get<int>();
+                            if (gltf.contains("textures") && texture_index >= 0 && texture_index < (int)gltf["textures"].size()
+                                && gltf["textures"][texture_index].contains("source")) {
+                                material_import.metallic_roughness_image = gltf["textures"][texture_index]["source"].get<int>();
+                            }
+                        }
+                    }
+                    result.materials[material["name"].get<std::string>()] = material_import;
+                }
+
+                if (bin_data_start >= 0 && gltf.contains("images") && gltf.contains("bufferViews")) {
+                    for (auto& [material_name, material_import] : result.materials) {
+                        const int image_index = material_import.metallic_roughness_image;
+                        if (image_index < 0 || result.images.count(image_index) > 0) continue;
+                        if (image_index >= (int)gltf["images"].size()) continue;
+                        const auto& image = gltf["images"][image_index];
+                        if (!image.contains("bufferView")) continue;
+                        const int buffer_view_index = image["bufferView"].get<int>();
+                        if (buffer_view_index < 0 || buffer_view_index >= (int)gltf["bufferViews"].size()) continue;
+                        const auto& buffer_view = gltf["bufferViews"][buffer_view_index];
+                        if (buffer_view.value("buffer", 0) != 0) continue;
+                        const long byte_offset = (long)buffer_view.value("byteOffset", 0LL);
+                        const long byte_length = (long)buffer_view.value("byteLength", 0LL);
+                        if (byte_length <= 0 || byte_offset < 0 || byte_offset + byte_length > bin_data_length) continue;
+                        if (fseek(f, bin_data_start + byte_offset, SEEK_SET) != 0) continue;
+                        std::vector<uint8_t> bytes((size_t)byte_length);
+                        if (fread(bytes.data(), 1, (size_t)byte_length, f) != (size_t)byte_length) continue;
+                        result.images[image_index] = std::move(bytes);
+                    }
+                }
+            }
+            fclose(f);
+
+            auto& nodes = gltf["nodes"];
+            std::vector<int> parent_map(nodes.size(), -1);
+            for (int i = 0; i < (int)nodes.size(); i++) {
+                if (nodes[i].contains("children")) {
+                    for (auto& child : nodes[i]["children"]) parent_map[child.get<int>()] = i;
+                }
+            }
+
+            std::map<int, int> root_ordinal;
+            if (gltf.contains("scenes")) {
+                const int scene_index = gltf.value("scene", 0);
+                if (scene_index >= 0 && scene_index < (int)gltf["scenes"].size() && gltf["scenes"][scene_index].contains("nodes")) {
+                    int ordinal = 0;
+                    for (auto& root : gltf["scenes"][scene_index]["nodes"]) root_ordinal[root.get<int>()] = ordinal++;
+                }
+            }
+
+            // Assimp defaults an empty emissive-strength extension to zero and lazily reorders
+            // materials. Pair the node trees and primitives to recover the JSON value without
+            // depending on optional or non-unique material names.
+            std::function<void(const aiNode*, int)> import_material_extensions = [&](const aiNode* imported_node, int node_index){
+                const auto& node = nodes[node_index];
+                if(node.contains("mesh")){
+                    const auto& primitives = gltf["meshes"][node["mesh"].get<int>()]["primitives"];
+                    for(unsigned int primitive_i = 0; primitive_i < imported_node->mNumMeshes; primitive_i++){
+                        const auto& primitive = primitives.at(primitive_i);
+                        if(primitive.contains("material")){
+                            const auto& material = gltf["materials"][primitive["material"].get<int>()];
+                            if(material.contains("extensions")){
+                                const unsigned int material_index = imported_scene.mMeshes[imported_node->mMeshes[primitive_i]]->mMaterialIndex;
+                                auto& imported = result.material_extensions[material_index];
+                                const auto& extensions = material["extensions"];
+                                imported.unlit = extensions.contains("KHR_materials_unlit");
+                                if(extensions.contains("KHR_materials_emissive_strength")){
+                                    imported.emissive_strength = extensions["KHR_materials_emissive_strength"].value("emissiveStrength", 1.0f);
+                                }
+                            }
+                        }
+                    }
+                }
+                for(unsigned int child_i = 0; child_i < imported_node->mNumChildren; child_i++){
+                    import_material_extensions(imported_node->mChildren[child_i], node["children"].at(child_i).get<int>());
+                }
+            };
+            for(const auto& [node_index, ordinal] : root_ordinal){
+                const aiNode* imported_root = root_ordinal.size() == 1 ? imported_scene.mRootNode : imported_scene.mRootNode->mChildren[ordinal];
+                import_material_extensions(imported_root, node_index);
+            }
+
+            if (gltf.contains("extensions") && gltf["extensions"].contains("KHR_lights_punctual")) {
+                auto& light_defs = gltf["extensions"]["KHR_lights_punctual"]["lights"];
+                const auto make_light = [](const nlohmann::json& ldef, const std::string& type_str, float intensity, float color_r, float color_g, float color_b, const float transform[16]) {
+                    rendering::SceneLight sl{};
+                    if (type_str == "directional") sl.type = 0;
+                    else if (type_str == "spot") sl.type = 2;
+                    else sl.type = 1;
+
+                    sl.position[0] = transform[12]; sl.position[1] = -transform[14]; sl.position[2] = transform[13];
+                    sl.color[0] = color_r * intensity; sl.color[1] = color_g * intensity; sl.color[2] = color_b * intensity;
+                    sl.attenuation_constant = 0.f; sl.attenuation_linear = 0.f; sl.attenuation_quadratic = 1.f;
+
+                    if (type_str == "directional") {
+                        swizzle_gltf_direction_to_renderer(transform[8], transform[9], transform[10], sl.direction);
+                    } else if (type_str == "spot") {
+                        float inner = 0.0f;
+                        float outer = 0.7854f;
+                        if (ldef.contains("spot")) {
+                            inner = ldef["spot"].value("innerConeAngle", inner);
+                            outer = ldef["spot"].value("outerConeAngle", outer);
+                        }
+                        sl.cos_inner_cone = cosf(inner);
+                        sl.cos_outer_cone = cosf(outer);
+                        swizzle_gltf_direction_to_renderer(-transform[8], -transform[9], -transform[10], sl.direction);
+                    }
+                    return sl;
+                };
+
+                for (int ni = 0; ni < (int)nodes.size(); ni++) {
+                    auto& node = nodes[ni];
+                    if (!node.contains("extensions") || !node["extensions"].contains("KHR_lights_punctual")) continue;
+                    int light_idx = node["extensions"]["KHR_lights_punctual"]["light"].get<int>();
+                    auto& ldef = light_defs[light_idx];
+
+                    float intensity = ldef.value("intensity", 1.0f);
+                    std::string type_str = ldef.value("type", "point");
+                    float color_r = 1, color_g = 1, color_b = 1;
+                    if (ldef.contains("color")) { color_r = ldef["color"][0]; color_g = ldef["color"][1]; color_b = ldef["color"][2]; }
+
+                    float world[16];
+                    node_world_transform(nodes, ni, parent_map, world);
+                    result.lights.push_back(make_light(ldef, type_str, intensity, color_r, color_g, color_b, world));
+                    std::vector<std::string> path;
+                    for(int ancestor = ni; ancestor >= 0; ancestor = parent_map[ancestor]){
+                        path.push_back(nodes[ancestor].value("name", std::string{}));
+                    }
+                    result.light_paths.push_back(std::move(path));
+
+                    int owning_root = ni;
+                    while (parent_map[owning_root] >= 0) owning_root = parent_map[owning_root];
+                    const auto ordinal = root_ordinal.find(owning_root);
+                    if (ordinal != root_ordinal.end()) {
+                        float relative[16];
+                        node_world_transform(nodes, ni, parent_map, relative, owning_root);
+                        result.root_lights[ordinal->second].push_back(make_light(ldef, type_str, intensity, color_r, color_g, color_b, relative));
+                    }
+                }
+            }
+
+            return result;
+        }
+    }
+
+    namespace rendering::datasets::glb{
+    struct MeshConversionState{
+        std::map<const aiTexture*, rendering::Texture> embedded_textures;
+        std::map<std::string, rendering::Texture> external_textures;
+        std::map<int, rendering::Texture> metallic_roughness_textures;
+        std::map<std::string, RepresentativeTextureColor> representative_texture_color_cache;
+        size_t representative_texture_color_meshes = 0;
+        size_t representative_texture_color_decoded = 0;
+    };
+
+    inline rendering::Texture load_texture(const aiTexture* source, MeshConversionState& state){
+        if(source == nullptr){
+            return {};
+        }
+        auto& texture = state.embedded_textures[source];
+        if(!texture.present()){
+            std::vector<uint8_t> pixels;
+            if(decode_embedded_texture(source, pixels, texture.width, texture.height)){
+                texture.pixels = std::make_shared<const std::vector<uint8_t>>(std::move(pixels));
+            }
+        }
+        return texture;
+    }
+
+    template <typename SHADING, bool HAS_RGB>
+    rendering::Mesh convert_mesh(const aiScene* scene, const aiMesh* mesh, const aiMatrix4x4& global_transform, const ParsedMetadata& glb_metadata, MeshConversionState& state){
+        rendering::Mesh md;
+        [[maybe_unused]] const aiMaterial* mat = nullptr;
+        if constexpr (HAS_RGB) {
+            if(mesh->mMaterialIndex < scene->mNumMaterials){
+                mat = scene->mMaterials[mesh->mMaterialIndex];
+            }
+        }
+
+        // vertices: apply node transform, then GLB (Y-up) → FLU (Z-up)
+        for(unsigned int v = 0; v < mesh->mNumVertices; v++){
+            aiVector3D pos = mesh->mVertices[v];
+            pos = global_transform * pos;
+            md.vertices.push_back(pos.x);
+            md.vertices.push_back(-pos.z);
+            md.vertices.push_back(pos.y);
+        }
+
+        if constexpr (HAS_RGB && SHADING::PBR_SHADING) {
+            if (mesh->mNormals) {
+                aiMatrix3x3 normal_matrix(global_transform);
+                for (unsigned int v = 0; v < mesh->mNumVertices; v++) {
+                    aiVector3D n = normal_matrix * mesh->mNormals[v];
+                    n.Normalize();
+                    md.normals.push_back(n.x);
+                    md.normals.push_back(-n.z);
+                    md.normals.push_back(n.y);
+                }
+            }
+        }
+
+        // indices
+        for(unsigned int f = 0; f < mesh->mNumFaces; f++){
+            const aiFace& face = mesh->mFaces[f];
+            if(face.mNumIndices == 3){
+                md.indices.push_back(face.mIndices[0]);
+                md.indices.push_back(face.mIndices[1]);
+                md.indices.push_back(face.mIndices[2]);
+            }
+        }
+
+        if constexpr (HAS_RGB && SHADING::LOAD_TEXTURES) {
+            unsigned int uv_channel = 0;
+            if(mat != nullptr){
+                int uv_candidate = 0;
+                if(mat->Get(AI_MATKEY_UVWSRC(aiTextureType_BASE_COLOR, 0), uv_candidate) == AI_SUCCESS && uv_candidate >= 0){
+                    uv_channel = (unsigned int)uv_candidate;
+                }
+                else if(mat->Get(AI_MATKEY_UVWSRC(aiTextureType_DIFFUSE, 0), uv_candidate) == AI_SUCCESS && uv_candidate >= 0){
+                    uv_channel = (unsigned int)uv_candidate;
+                }
+            }
+            if(uv_channel >= AI_MAX_NUMBER_OF_TEXTURECOORDS || !mesh->mTextureCoords[uv_channel]){
+                for(unsigned int channel_i = 0; channel_i < AI_MAX_NUMBER_OF_TEXTURECOORDS; channel_i++){
+                    if(mesh->mTextureCoords[channel_i]){
+                        uv_channel = channel_i;
+                        break;
+                    }
+                }
+            }
+            if(mesh->mTextureCoords[uv_channel]){
+                for(unsigned int v = 0; v < mesh->mNumVertices; v++){
+                    const aiVector3D& tc = mesh->mTextureCoords[uv_channel][v];
+                    md.tex_coords.push_back(tc.x);
+                    if constexpr (SHADING::PBR_SHADING) {
+                        md.tex_coords.push_back(1.0f - tc.y);
+                    } else {
+                        md.tex_coords.push_back(tc.y);
+                    }
+                }
+            }
+        }
+
+        // material / texture
+        if constexpr (SHADING::PBR_SHADING) {
+            md.color[0] = 1.0f; md.color[1] = 1.0f; md.color[2] = 1.0f;
+        } else {
+            md.color[0] = 0.8f; md.color[1] = 0.8f; md.color[2] = 0.8f;
+        }
+        if constexpr (HAS_RGB) {
+        if(mat != nullptr){
+            md.unlit = glb_metadata.material_extensions[mesh->mMaterialIndex].unlit;
+
+            if constexpr (SHADING::PBR_SHADING) {
+                aiColor4D base_color(1.0f, 1.0f, 1.0f, 1.0f);
+                if (aiGetMaterialColor(mat, AI_MATKEY_BASE_COLOR, &base_color) == AI_SUCCESS) {
+                    md.color[0] = base_color.r; md.color[1] = base_color.g; md.color[2] = base_color.b;
+                } else {
+                    aiColor4D diffuse;
+                    if (aiGetMaterialColor(mat, AI_MATKEY_COLOR_DIFFUSE, &diffuse) == AI_SUCCESS) {
+                        md.color[0] = diffuse.r; md.color[1] = diffuse.g; md.color[2] = diffuse.b;
+                    }
+                }
+            } else {
+                aiColor4D diffuse;
+                if(aiGetMaterialColor(mat, AI_MATKEY_COLOR_DIFFUSE, &diffuse) == AI_SUCCESS){
+                    md.color[0] = diffuse.r; md.color[1] = diffuse.g; md.color[2] = diffuse.b;
+                }
+                else if constexpr (!SHADING::LOAD_TEXTURES) {
+                    aiColor4D base_color;
+                    if (aiGetMaterialColor(mat, AI_MATKEY_BASE_COLOR, &base_color) == AI_SUCCESS) {
+                        md.color[0] = base_color.r; md.color[1] = base_color.g; md.color[2] = base_color.b;
+                    }
+                }
+            }
+
+            if constexpr (!SHADING::LOAD_TEXTURES) {
+                RepresentativeTextureColor representative_color;
+                bool has_representative_color = load_representative_texture_color(
+                    scene, mat, aiTextureType_DIFFUSE, state.representative_texture_color_cache,
+                    representative_color, state.representative_texture_color_decoded
+                );
+                if(!has_representative_color) {
+                    has_representative_color = load_representative_texture_color(
+                        scene, mat, aiTextureType_BASE_COLOR, state.representative_texture_color_cache,
+                        representative_color, state.representative_texture_color_decoded
+                    );
+                }
+                if(has_representative_color) {
+                    md.color[0] *= representative_color.color[0];
+                    md.color[1] *= representative_color.color[1];
+                    md.color[2] *= representative_color.color[2];
+                    state.representative_texture_color_meshes++;
+                }
+            }
+
+            if constexpr (SHADING::LOAD_TEXTURES) {
+            if(mat->GetTextureCount(aiTextureType_DIFFUSE) > 0){
+                aiString tex_path;
+                if(mat->GetTexture(aiTextureType_DIFFUSE, 0, &tex_path) == AI_SUCCESS){
+                    const aiTexture* embedded = scene->GetEmbeddedTexture(tex_path.C_Str());
+                    if(embedded){
+                        md.texture = load_texture(embedded, state);
+                    } else if(tex_path.length > 0){
+                        auto& texture = state.external_textures[tex_path.C_Str()];
+                        if(!texture.present()){
+                            int channels;
+                            unsigned char* data = stbi_load(tex_path.C_Str(), &texture.width, &texture.height, &channels, 4);
+                            if(data){
+                                texture.pixels = std::make_shared<const std::vector<uint8_t>>(data, data + (size_t)texture.width * texture.height * 4);
+                                stbi_image_free(data);
+                            }
+                        }
+                        md.texture = texture;
+                    }
+                }
+            }
+            }
+
+            if constexpr (SHADING::METALLIC_REFLECTIONS || SHADING::PBR_SHADING) {
+            float metallic_factor = 0.0f;
+            mat->Get(AI_MATKEY_METALLIC_FACTOR, metallic_factor);
+            md.metallic = metallic_factor;
+            }
+
+            if constexpr (SHADING::PBR_SHADING) {
+                float metallic_factor_pbr = 1.0f;
+                mat->Get(AI_MATKEY_METALLIC_FACTOR, metallic_factor_pbr);
+                md.metallic = metallic_factor_pbr;
+
+                float roughness_factor = 1.0f;
+                mat->Get(AI_MATKEY_ROUGHNESS_FACTOR, roughness_factor);
+                md.roughness = roughness_factor;
+
+                if constexpr (SHADING::LOAD_TEXTURES) {
+                if (mat->GetTextureCount(aiTextureType_NORMALS) > 0) {
+                    aiString tex_path;
+                    if (mat->GetTexture(aiTextureType_NORMALS, 0, &tex_path) == AI_SUCCESS) {
+                        md.normal_map = load_texture(scene->GetEmbeddedTexture(tex_path.C_Str()), state);
+                    }
+                }
+
+                // the metallicRoughness texture is resolved from the GLB JSON, not through
+                // Assimp's texture-type taxonomy (which relabels it across versions and orders
+                // embedded textures differently from the glTF image array)
+                {
+                    const auto glb_material = glb_metadata.materials.find(mat->GetName().C_Str());
+                    if (glb_material != glb_metadata.materials.end() && glb_material->second.metallic_roughness_image >= 0) {
+                        const auto image = glb_metadata.images.find(glb_material->second.metallic_roughness_image);
+                        if (image != glb_metadata.images.end()) {
+                            auto& texture = state.metallic_roughness_textures[image->first];
+                            if(!texture.present()){
+                                std::vector<uint8_t> pixels;
+                                if(decode_image_bytes(image->second, pixels, texture.width, texture.height)){
+                                    texture.pixels = std::make_shared<const std::vector<uint8_t>>(std::move(pixels));
+                                }
+                            }
+                            md.metallic_roughness_map = texture;
+                        }
+                    }
+                }
+                }
+
+                aiColor3D emissive_color(0.f, 0.f, 0.f);
+                mat->Get(AI_MATKEY_COLOR_EMISSIVE, emissive_color);
+                const float emissive_strength = glb_metadata.material_extensions[mesh->mMaterialIndex].emissive_strength;
+                md.emissive[0] = emissive_color.r * emissive_strength;
+                md.emissive[1] = emissive_color.g * emissive_strength;
+                md.emissive[2] = emissive_color.b * emissive_strength;
+
+                if constexpr (SHADING::LOAD_TEXTURES) {
+                if (mat->GetTextureCount(aiTextureType_EMISSIVE) > 0) {
+                    aiString tex_path;
+                    if (mat->GetTexture(aiTextureType_EMISSIVE, 0, &tex_path) == AI_SUCCESS) {
+                        md.emissive_map = load_texture(scene->GetEmbeddedTexture(tex_path.C_Str()), state);
+                    }
+                }
+
+                if (mat->GetTextureCount(aiTextureType_AMBIENT_OCCLUSION) > 0) {
+                    aiString tex_path;
+                    if (mat->GetTexture(aiTextureType_AMBIENT_OCCLUSION, 0, &tex_path) == AI_SUCCESS) {
+                        md.occlusion_map = load_texture(scene->GetEmbeddedTexture(tex_path.C_Str()), state);
+                    }
+                } else if (mat->GetTextureCount(aiTextureType_LIGHTMAP) > 0) {
+                    aiString tex_path;
+                    if (mat->GetTexture(aiTextureType_LIGHTMAP, 0, &tex_path) == AI_SUCCESS) {
+                        md.occlusion_map = load_texture(scene->GetEmbeddedTexture(tex_path.C_Str()), state);
+                    }
+                }
+                }
+                float opacity_val = 1.0f;
+                mat->Get(AI_MATKEY_OPACITY, opacity_val);
+                aiColor4D opacity_base_color(1.0f, 1.0f, 1.0f, 1.0f);
+                if (aiGetMaterialColor(mat, AI_MATKEY_BASE_COLOR, &opacity_base_color) == AI_SUCCESS) {
+                    opacity_val = fminf(opacity_val, opacity_base_color.a);
+                }
+                float transmission_factor = 0.0f;
+                mat->Get(AI_MATKEY_TRANSMISSION_FACTOR, transmission_factor);
+                if (transmission_factor > 0.0f) {
+                    opacity_val = fminf(opacity_val, 1.0f - transmission_factor);
+                }
+                md.opacity = opacity_val;
+
+                aiString alpha_mode;
+                if (mat->Get(AI_MATKEY_GLTF_ALPHAMODE, alpha_mode) == AI_SUCCESS) {
+                    std::string alpha_mode_str = alpha_mode.C_Str();
+                    if (alpha_mode_str == "MASK") {
+                        md.alpha_mode = 1;
+                    } else if (alpha_mode_str == "BLEND") {
+                        md.alpha_mode = 2;
+                    } else {
+                        md.alpha_mode = 0;
+                    }
+                }
+                float alpha_cutoff = 0.5f;
+                if (mat->Get(AI_MATKEY_GLTF_ALPHACUTOFF, alpha_cutoff) == AI_SUCCESS) {
+                    md.alpha_cutoff = alpha_cutoff;
+                }
+            }
+
+            if constexpr (SHADING::LOAD_TEXTURES) {
+            if(!md.texture.present() && mat->GetTextureCount(aiTextureType_BASE_COLOR) > 0){
+                aiString tex_path;
+                if(mat->GetTexture(aiTextureType_BASE_COLOR, 0, &tex_path) == AI_SUCCESS){
+                    md.texture = load_texture(scene->GetEmbeddedTexture(tex_path.C_Str()), state);
+                }
+            }
+            }
+        }
+        }
+
+        if constexpr (HAS_RGB && (SHADING::METALLIC_REFLECTIONS || SHADING::PBR_SHADING)) {
+            if(mat != nullptr){
+                const auto glb_material = glb_metadata.materials.find(mat->GetName().C_Str());
+                if(glb_material != glb_metadata.materials.end()){
+                    md.metallic = glb_material->second.metallic;
+                    if constexpr (SHADING::PBR_SHADING) {
+                        md.roughness = glb_material->second.roughness;
+                    }
+                }
+            }
+        }
+
+        return md;
+    }
+
+    template <typename SHADING, bool HAS_RGB, typename DEVICE>
+    bool load_scene_data(DEVICE& device, rendering::Object& object, std::vector<rendering::SceneLight>& out_lights, const std::string& filename, rendering::Scene::Environment* environment = nullptr){
+        Assimp::Importer importer;
+        unsigned int import_flags = aiProcess_Triangulate | aiProcess_JoinIdenticalVertices | aiProcess_ImproveCacheLocality;
+        if constexpr (HAS_RGB && SHADING::PBR_SHADING) {
+            import_flags |= aiProcess_GenSmoothNormals | aiProcess_CalcTangentSpace;
+        } else if constexpr (HAS_RGB && SHADING::NORMAL_SHADING) {
+            import_flags |= aiProcess_GenNormals;
+        }
+        const aiScene* scene = importer.ReadFile(filename, import_flags);
+
+        if(!scene || scene->mFlags & AI_SCENE_FLAGS_INCOMPLETE || !scene->mRootNode){
+            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Assimp error: ", importer.GetErrorString());
+            return false;
+        }
+
+        log(device, device.logger, devices::logging::Verbosity::info, rendering::datasets::LOG_PREFIX, "Loaded model with ", scene->mNumMeshes, " mesh(es)");
+
+        [[maybe_unused]] MeshConversionState conversion_state;
+
+        size_t total_verts = 0, total_tris = 0;
+
+        auto& out_meshes = object.meshes;
+        const size_t first_new_mesh = out_meshes.size();
+        const auto glb_metadata = parse(filename, *scene);
+        if(!glb_metadata.segmentation_valid){
+            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Invalid rl_tools segmentation metadata in ", filename);
+            return false;
+        }
+        if(environment != nullptr){
+            if(!glb_metadata.environment_valid){
+                log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Invalid scenes[].extras.rl_tools.environment in ", filename);
+                return false;
+            }
+            *environment = glb_metadata.environment;
+        }
+
+        object.segmentation_taxonomy = glb_metadata.segmentation_taxonomy;
+        std::function<bool(const aiNode*)> contributes_geometry = [&](const aiNode* node){
+            for(unsigned int mesh_i = 0; mesh_i < node->mNumMeshes; mesh_i++){
+                const auto* mesh = scene->mMeshes[node->mMeshes[mesh_i]];
+                for(unsigned int face_i = 0; face_i < mesh->mNumFaces; face_i++){
+                    if(mesh->mFaces[face_i].mNumIndices == 3){
+                        return true;
+                    }
+                }
+            }
+            for(unsigned int child_i = 0; child_i < node->mNumChildren; child_i++){
+                if(contributes_geometry(node->mChildren[child_i])){
+                    return true;
+                }
+            }
+            return false;
+        };
+        bool has_geometry = false;
+        object.segmentation_class = 0;
+        object.segmentation_class_valid = true;
+        for(size_t root_i = 0; root_i < glb_metadata.root_count; root_i++){
+            const auto* root = glb_metadata.root_count == 1 ? scene->mRootNode : scene->mRootNode->mChildren[root_i];
+            if(contributes_geometry(root)){
+                const auto id = glb_metadata.root_classes[root_i];
+                if(has_geometry && id != object.segmentation_class){
+                    object.segmentation_class_valid = false;
+                }
+                else if(!has_geometry){
+                    object.segmentation_class = id;
+                }
+                has_geometry = true;
+            }
+        }
+        if(!object.segmentation_class_valid){
+            object.segmentation_class = 0;
+        }
+
+        // Build mesh-index → global transform map by walking the node tree
+        std::vector<std::vector<aiMatrix4x4>> mesh_transforms(scene->mNumMeshes);
+        std::function<void(const aiNode*, const aiMatrix4x4&)> collect_transforms = [&](const aiNode* node, const aiMatrix4x4& parent_transform){
+            aiMatrix4x4 global_transform = parent_transform * node->mTransformation;
+            for(unsigned int i = 0; i < node->mNumMeshes; i++){
+                mesh_transforms[node->mMeshes[i]].push_back(global_transform);
+            }
+            for(unsigned int i = 0; i < node->mNumChildren; i++){
+                collect_transforms(node->mChildren[i], global_transform);
+            }
+        };
+        collect_transforms(scene->mRootNode, aiMatrix4x4());
+
+        for(unsigned int m = 0; m < scene->mNumMeshes; m++){
+            const aiMesh* mesh = scene->mMeshes[m];
+            auto& transforms = mesh_transforms[m];
+            if(transforms.empty()){
+                transforms.push_back(aiMatrix4x4());
+            }
+            for(const auto& global_transform : transforms){
+            rendering::Mesh md = convert_mesh<SHADING, HAS_RGB>(scene, mesh, global_transform, glb_metadata, conversion_state);
+            total_verts += md.vertices.size() / 3;
+            total_tris += md.indices.size() / 3;
+            out_meshes.push_back(std::move(md));
+            } // end for global_transform
+        }
+
+        log(device, device.logger, devices::logging::Verbosity::debug, rendering::datasets::LOG_PREFIX, "Total vertices: ", total_verts, ", triangles: ", total_tris);
+
+        const size_t num_new_meshes = out_meshes.size() - first_new_mesh;
+        int textured_count = 0;
+        int metallic_count = 0;
+        for(size_t m = first_new_mesh; m < out_meshes.size(); m++){
+            if(out_meshes[m].texture.present()){
+                textured_count++;
+            }
+            if(out_meshes[m].metallic > 0.f){
+                metallic_count++;
+            }
+        }
+        log(device, device.logger, devices::logging::Verbosity::debug, rendering::datasets::LOG_PREFIX, "Meshes with textures: ", textured_count, "/", num_new_meshes,
+              ", metallic: ", metallic_count, "/", num_new_meshes);
+        if constexpr (HAS_RGB && !SHADING::LOAD_TEXTURES) {
+            log(device, device.logger, devices::logging::Verbosity::debug, rendering::datasets::LOG_PREFIX, "Representative texture colors: ", conversion_state.representative_texture_color_meshes,
+                  "/", num_new_meshes, " meshes, decoded ",
+                  conversion_state.representative_texture_color_decoded, " texture(s)");
+        }
+
+        for (auto& sl : glb_metadata.lights) {
+            out_lights.push_back(sl);
+        }
+
+        return true;
+    }
+
+    // conjugates an Assimp (glTF Y-up) node transform into the FLU frame: T_flu = S * T * S^-1,
+    // with S the same Y-up -> FLU swizzle that is applied to vertices
+    inline void flu_from_assimp(const aiMatrix4x4& transform, float out[12]){
+        out[0] = transform.a1;  out[1] = -transform.a3; out[2]  = transform.a2;  out[3]  = transform.a4;
+        out[4] = -transform.c1; out[5] = transform.c3;  out[6]  = -transform.c2; out[7]  = -transform.c4;
+        out[8] = transform.b1;  out[9] = -transform.b3; out[10] = transform.b2;  out[11] = transform.b4;
+    }
+
+    // part_nodes empty: one part per scene-root node. Otherwise the named nodes become the parts
+    // in the given order, each collecting its subtree down to the next selected node; a part
+    // inside another selected node records it as its parent (declared first), lights move to
+    // the innermost selected node of their chain, and geometry outside every selected node is
+    // an error rather than silently dropped.
+    template <typename SHADING, bool HAS_RGB, typename DEVICE>
+    bool load_assembly_data(DEVICE& device, rendering::ObjectAssembly& assembly, const std::string& filename, rendering::Scene::Environment* environment = nullptr, const std::vector<std::string>& part_nodes = {}){
+        Assimp::Importer importer;
+        unsigned int import_flags = aiProcess_Triangulate | aiProcess_JoinIdenticalVertices | aiProcess_ImproveCacheLocality;
+        if constexpr (HAS_RGB && SHADING::PBR_SHADING) {
+            import_flags |= aiProcess_GenSmoothNormals | aiProcess_CalcTangentSpace;
+        } else if constexpr (HAS_RGB && SHADING::NORMAL_SHADING) {
+            import_flags |= aiProcess_GenNormals;
+        }
+        const aiScene* scene = importer.ReadFile(filename, import_flags);
+        if(!scene || scene->mFlags & AI_SCENE_FLAGS_INCOMPLETE || !scene->mRootNode){
+            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Assimp error: ", importer.GetErrorString());
+            return false;
+        }
+        const auto glb_metadata = parse(filename, *scene);
+        if(!glb_metadata.segmentation_valid){
+            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Invalid rl_tools segmentation metadata in ", filename);
+            return false;
+        }
+        if(environment != nullptr){
+            if(!glb_metadata.environment_valid){
+                log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Invalid scenes[].extras.rl_tools.environment in ", filename);
+                return false;
+            }
+            *environment = glb_metadata.environment;
+        }
+        MeshConversionState conversion_state; // shared across parts: textures used by several parts decode once
+
+        const aiNode* file_root = scene->mRootNode;
+        struct Selection {
+            const aiNode* node;
+            aiMatrix4x4 transform; // node -> assembly frame
+            size_t root_ordinal;
+            size_t parent;
+        };
+        std::vector<Selection> selection;
+        const auto selected_index = [&](const aiNode* node){
+            size_t index = 0;
+            while(index < selection.size() && selection[index].node != node){
+                index++;
+            }
+            return index;
+        };
+        if(part_nodes.empty()){
+            for(size_t root_i = 0; root_i < glb_metadata.root_count; root_i++){
+                const aiNode* root = glb_metadata.root_count == 1 ? file_root : file_root->mChildren[root_i];
+                selection.push_back({root, root->mTransformation, root_i, rendering::ObjectAssembly::Part::NO_PARENT});
+            }
+        }
+        else{
+            struct Visit {
+                const aiNode* node;
+                aiMatrix4x4 transform;
+                size_t root_ordinal;
+            };
+            std::vector<Visit> visits;
+            std::function<void(const aiNode*, const aiMatrix4x4&, size_t)> gather = [&](const aiNode* node, const aiMatrix4x4& parent_transform, size_t root_ordinal){
+                const aiMatrix4x4 transform = parent_transform * node->mTransformation;
+                visits.push_back({node, transform, root_ordinal});
+                for(unsigned int child_i = 0; child_i < node->mNumChildren; child_i++){
+                    gather(node->mChildren[child_i], transform, root_ordinal);
+                }
+            };
+            for(size_t root_i = 0; root_i < glb_metadata.root_count; root_i++){
+                gather(glb_metadata.root_count == 1 ? file_root : file_root->mChildren[root_i], aiMatrix4x4(), root_i);
+            }
+            for(const auto& name : part_nodes){
+                const Visit* match = nullptr;
+                for(const auto& visit : visits){
+                    if(name == visit.node->mName.C_Str()){
+                        if(match != nullptr){
+                            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Part node name is ambiguous in ", filename, ": ", name);
+                            return false;
+                        }
+                        match = &visit;
+                    }
+                }
+                if(match == nullptr){
+                    log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Part node not found in ", filename, ": ", name);
+                    return false;
+                }
+                if(selected_index(match->node) < selection.size()){
+                    log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Part node selected twice in ", filename, ": ", name);
+                    return false;
+                }
+                selection.push_back({match->node, match->transform, match->root_ordinal, rendering::ObjectAssembly::Part::NO_PARENT});
+            }
+            for(size_t part_i = 0; part_i < selection.size(); part_i++){
+                for(const aiNode* ancestor = selection[part_i].node->mParent; ancestor != nullptr; ancestor = ancestor->mParent){
+                    const size_t parent_i = selected_index(ancestor);
+                    if(parent_i < selection.size()){
+                        if(parent_i > part_i){
+                            log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Part node ", part_nodes[part_i], " must follow its enclosing part node ", part_nodes[parent_i]);
+                            return false;
+                        }
+                        selection[part_i].parent = parent_i;
+                        break;
+                    }
+                }
+            }
+            for(const auto& visit : visits){
+                if(visit.node->mNumMeshes == 0){
+                    continue;
+                }
+                bool covered = false;
+                for(const aiNode* node = visit.node; node != nullptr && !covered; node = node->mParent){
+                    covered = selected_index(node) < selection.size();
+                }
+                if(!covered){
+                    log(device, device.logger, devices::logging::Verbosity::error, rendering::datasets::LOG_PREFIX, "Part nodes leave the geometry of node ", visit.node->mName.C_Str(), " outside every part in ", filename);
+                    return false;
+                }
+            }
+        }
+
+        const size_t first_new_part = assembly.parts.size();
+        for(size_t part_i = 0; part_i < selection.size(); part_i++){
+            const auto& selected = selection[part_i];
+            const aiNode* root = selected.node;
+            rendering::Object object;
+            object.name = root->mName.C_Str();
+            object.segmentation_taxonomy = glb_metadata.segmentation_taxonomy;
+            object.segmentation_class = glb_metadata.root_classes[selected.root_ordinal];
+
+            // geometry lands in the part node's frame: the recursion starts below the node's own
+            // transform, which becomes the part placement instead, and stops at nested parts
+            std::function<void(const aiNode*, const aiMatrix4x4&)> collect = [&](const aiNode* node, const aiMatrix4x4& parent_transform){
+                if(selected_index(node) < selection.size()){
+                    return;
+                }
+                const aiMatrix4x4 relative_transform = parent_transform * node->mTransformation;
+                for(unsigned int mesh_i = 0; mesh_i < node->mNumMeshes; mesh_i++){
+                    object.meshes.push_back(convert_mesh<SHADING, HAS_RGB>(scene, scene->mMeshes[node->mMeshes[mesh_i]], relative_transform, glb_metadata, conversion_state));
+                }
+                for(unsigned int child_i = 0; child_i < node->mNumChildren; child_i++){
+                    collect(node->mChildren[child_i], relative_transform);
+                }
+            };
+            for(unsigned int mesh_i = 0; mesh_i < root->mNumMeshes; mesh_i++){
+                object.meshes.push_back(convert_mesh<SHADING, HAS_RGB>(scene, scene->mMeshes[root->mMeshes[mesh_i]], aiMatrix4x4(), glb_metadata, conversion_state));
+            }
+            for(unsigned int child_i = 0; child_i < root->mNumChildren; child_i++){
+                collect(root->mChildren[child_i], aiMatrix4x4());
+            }
+
+            if(part_nodes.empty()){
+                const auto root_lights = glb_metadata.root_lights.find((int)selected.root_ordinal);
+                if(root_lights != glb_metadata.root_lights.end()){
+                    object.lights = root_lights->second;
+                }
+            }
+            else{
+                aiMatrix4x4 inverse = selected.transform;
+                inverse.Inverse();
+                float to_part[12];
+                flu_from_assimp(inverse, to_part);
+                for(size_t light_i = 0; light_i < glb_metadata.lights.size(); light_i++){
+                    const auto& path = glb_metadata.light_paths[light_i];
+                    size_t owner = selection.size();
+                    for(size_t depth = 0; depth < path.size() && owner == selection.size(); depth++){
+                        for(size_t candidate = 0; candidate < selection.size(); candidate++){
+                            if(path[depth] == selection[candidate].node->mName.C_Str()){
+                                owner = candidate;
+                                break;
+                            }
+                        }
+                    }
+                    if(owner != part_i){
+                        continue;
+                    }
+                    rendering::SceneLight light = glb_metadata.lights[light_i];
+                    rendering::transform_point(to_part, glb_metadata.lights[light_i].position, light.position);
+                    rendering::transform_vector(to_part, glb_metadata.lights[light_i].direction, light.direction);
+                    object.lights.push_back(light);
+                }
+            }
+
+            rendering::ObjectAssembly::Part part;
+            part.object = assembly.objects.size();
+            flu_from_assimp(selected.transform, part.transform);
+            part.parent = selected.parent == rendering::ObjectAssembly::Part::NO_PARENT ? rendering::ObjectAssembly::Part::NO_PARENT : first_new_part + selected.parent;
+            assembly.objects.push_back(std::move(object));
+            assembly.parts.push_back(part);
+        }
+        log(device, device.logger, devices::logging::Verbosity::info, rendering::datasets::LOG_PREFIX, "Loaded assembly with ", (assembly.parts.size() - first_new_part), " part(s)");
+        return true;
+    }
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE>
+    bool load(DEVICE& device, rendering::Object& object, const std::string& reference){
+        std::string path;
+        if(!rendering::datasets::resolve_reference(device, reference, path)){
+            return false;
+        }
+        return rendering::datasets::glb::load_scene_data<SHADING, HAS_RGB>(device, object, object.lights, path);
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE>
+    bool load(DEVICE& device, rendering::ObjectAssembly& assembly, const std::string& reference){
+        std::string path;
+        if(!rendering::datasets::resolve_reference(device, reference, path)){
+            return false;
+        }
+        return rendering::datasets::glb::load_assembly_data<SHADING, HAS_RGB>(device, assembly, path);
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE>
+    bool load(DEVICE& device, rendering::ObjectAssembly& assembly, const std::string& reference, const std::vector<std::string>& part_nodes){
+        std::string path;
+        if(!rendering::datasets::resolve_reference(device, reference, path)){
+            return false;
+        }
+        return rendering::datasets::glb::load_assembly_data<SHADING, HAS_RGB>(device, assembly, path, nullptr, part_nodes);
+    }
+
+    // Appends the scene file as one welded static object placed at identity: explicit
+    // composition, the append twin of load below. Composition does not touch the metadata —
+    // finish a composed bundle with datasets::compute_bounds and datasets::content_hash.
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE, typename T>
+    bool add(DEVICE& device, rendering::Bundle<T>& bundle, const std::string& reference){
+        std::string path;
+        if(!rendering::datasets::resolve_reference(device, reference, path)){
+            return false;
+        }
+        rendering::Object object;
+        if(!rendering::datasets::glb::load_scene_data<SHADING, HAS_RGB>(device, object, bundle.scene.lights, path)){
+            return false;
+        }
+        bundle.scene.objects.push_back(std::move(object));
+        bundle.scene.instances.push_back({bundle.scene.objects.size() - 1, {1,0,0,0, 0,1,0,0, 0,0,1,0}, true});
+        return true;
+    }
+
+    // Bundle-level load: welded by default, or one instance per root with Mode<mode::rendering::SceneRoots<>>;
+    // the metadata (bounds, max ray length, content hash) is loader-filled. The bundle must be
+    // empty — reusing one across loads silently accumulates geometry and no rendering test can
+    // see it, so it is a hard failure; composition is the explicit add(device, bundle, reference).
+    // A scene file without any punctual lights gets a neutral 3-directional fill so PBR-shaded
+    // content is not lit by ambient only. Object/asset loads deliberately do not: fill lighting
+    // is a scene decision, not an asset property.
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE, typename T, typename MODE = mode::Default<>>
+    bool load(DEVICE& device, rendering::Bundle<T>& bundle, const std::string& reference, const Mode<MODE>& = Mode<MODE>{}){
+        utils::assert_exit(device, bundle.scene.objects.empty() && bundle.scene.instances.empty() && bundle.scene.lights.empty(), "load: bundle is not empty — use add(device, bundle, reference) to compose");
+        std::string path;
+        if(!rendering::datasets::resolve_reference(device, reference, path)){
+            return false;
+        }
+        if constexpr(mode::is<MODE, mode::rendering::SceneRoots>){
+            rendering::ObjectAssembly assembly;
+            if(!rendering::datasets::glb::load_assembly_data<SHADING, HAS_RGB>(device, assembly, path, &bundle.scene.environment)){
+                return false;
+            }
+            bundle.scene.objects = std::move(assembly.objects);
+            for(const auto& part : assembly.parts){
+                bundle.scene.instances.push_back({part.object, {}, rendering::transform_is_identity(part.transform)});
+                std::memcpy(bundle.scene.instances.back().transform, part.transform, sizeof(part.transform));
+            }
+        }
+        else{
+            rendering::Object object;
+            if(!rendering::datasets::glb::load_scene_data<SHADING, HAS_RGB>(device, object, bundle.scene.lights, path, &bundle.scene.environment)){
+                return false;
+            }
+            bundle.scene.objects.push_back(std::move(object));
+            bundle.scene.instances.push_back({0, {1,0,0,0, 0,1,0,0, 0,0,1,0}, true});
+        }
+        const bool has_object_lights = std::any_of(bundle.scene.objects.begin(), bundle.scene.objects.end(), [](const rendering::Object& object){ return !object.lights.empty(); });
+        if(bundle.scene.lights.empty() && !has_object_lights){
+            float inv_sqrt2 = 0.70710678f;
+            bundle.scene.lights.push_back({0, {0,0,0}, {-inv_sqrt2, 0.f, inv_sqrt2}, {0.4f, 0.4f, 0.4f}, 0,0,0, 0,0});
+            bundle.scene.lights.push_back({0, {0,0,0}, {0.f, -inv_sqrt2, inv_sqrt2}, {0.3f, 0.3f, 0.3f}, 0,0,0, 0,0});
+            bundle.scene.lights.push_back({0, {0,0,0}, {0.f, inv_sqrt2, inv_sqrt2}, {0.2f, 0.2f, 0.2f}, 0,0,0, 0,0});
+            log(device, device.logger, devices::logging::Verbosity::info, rendering::datasets::LOG_PREFIX, "Scene file has no lights: adding 3 directional fill lights");
+        }
+        rendering::datasets::compute_bounds(device, bundle);
+        utils::assert_exit(device, rendering::datasets::content_hash(device, path, bundle.metadata.content_hash), "load: failed to hash scene file");
+        return true;
+    }
+    template <typename DEVICE>
+    void enumerate(DEVICE& device, const rendering::datasets::glb::Dataset& dataset, rendering::datasets::glb::Corpus& corpus){
+        corpus.references = dataset.references;
+        if(!corpus.references.empty()){
+            return;
+        }
+        for(const auto& entry : std::filesystem::directory_iterator(dataset.directory)){
+            if(entry.is_regular_file() && entry.path().extension() == ".glb"){
+                corpus.references.push_back(entry.path().string());
+            }
+        }
+        std::sort(corpus.references.begin(), corpus.references.end(), rendering::datasets::natural_less);
+        utils::assert_exit(device, !corpus.references.empty(), "datasets::glb::Dataset: no .glb scenes found in directory");
+    }
+
+    template <typename SHADING = rendering::VeryHigh, bool HAS_RGB = true, typename DEVICE, typename T, typename MODE = mode::Default<>>
+    bool load(DEVICE& device, const rendering::datasets::glb::Dataset&, const rendering::datasets::glb::Corpus& corpus, size_t index, rendering::Bundle<T>& bundle, const Mode<MODE>& mode = Mode<MODE>{}){
+        utils::assert_exit(device, index < corpus.references.size(), "datasets::glb: corpus index out of range");
+        return load<SHADING, HAS_RGB>(device, bundle, corpus.references[index], mode);
+    }
+
+}
+RL_TOOLS_NAMESPACE_WRAPPER_END
+
+#endif