hyperverse 0.0.1__py3-none-any.whl

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Files changed (746) hide show
  1. hyperdrone/__init__.py +31 -0
  2. hyperdrone/_native/cmake/hyperdrone_jit.cmake +65 -0
  3. hyperdrone/_native/common/bindings.h +39 -0
  4. hyperdrone/_native/common/cuda_staging.h +75 -0
  5. hyperdrone/_native/common/jit_host.h +69 -0
  6. hyperdrone/_native/common/models.h +24 -0
  7. hyperdrone/_native/dynamics/CMakeLists.txt +61 -0
  8. hyperdrone/_native/dynamics/host.cpp +193 -0
  9. hyperdrone/_native/dynamics/iface.h +76 -0
  10. hyperdrone/_native/dynamics/impl.cpp +608 -0
  11. hyperdrone/_native/env/CMakeLists.txt +71 -0
  12. hyperdrone/_native/env/environment.cpp +124 -0
  13. hyperdrone/_native/env/environment.h +407 -0
  14. hyperdrone/_native/env/rotorcraft_bindings.cpp +51 -0
  15. hyperdrone/_native/render/CMakeLists.txt +94 -0
  16. hyperdrone/_native/render/renderer.cpp +962 -0
  17. hyperdrone/_native/render/rig_bindings.h +151 -0
  18. hyperdrone/_native/render/scene_bindings.cpp +466 -0
  19. hyperdrone/_vendor/rl-tools/CMakeLists.txt +205 -0
  20. hyperdrone/_vendor/rl-tools/LICENSE +21 -0
  21. hyperdrone/_vendor/rl-tools/cmake/autodetect/all.cmake +34 -0
  22. hyperdrone/_vendor/rl-tools/cmake/autodetect/git-diff.cmake +100 -0
  23. hyperdrone/_vendor/rl-tools/cmake/autodetect/git-hash.cmake +24 -0
  24. hyperdrone/_vendor/rl-tools/cmake/autodetect/summary.cmake +64 -0
  25. hyperdrone/_vendor/rl-tools/cmake/autodetect/tier0-compiler.cmake +18 -0
  26. hyperdrone/_vendor/rl-tools/cmake/autodetect/tier1-blas.cmake +51 -0
  27. hyperdrone/_vendor/rl-tools/cmake/autodetect/tier2-json-hdf5-zlib.cmake +81 -0
  28. hyperdrone/_vendor/rl-tools/cmake/autodetect/tier3-tensorboard.cmake +25 -0
  29. hyperdrone/_vendor/rl-tools/cmake/autodetect/tier4-cuda.cmake +42 -0
  30. hyperdrone/_vendor/rl-tools/cmake/autodetect/tier5-cli11.cmake +24 -0
  31. hyperdrone/_vendor/rl-tools/cmake/dependencies/assimp.cmake +19 -0
  32. hyperdrone/_vendor/rl-tools/cmake/legacy_flags.cmake +33 -0
  33. hyperdrone/_vendor/rl-tools/cmake/optional/assimp.cmake +30 -0
  34. hyperdrone/_vendor/rl-tools/cmake/optional/googletest.cmake +20 -0
  35. hyperdrone/_vendor/rl-tools/cmake/optional/metal.cmake +25 -0
  36. hyperdrone/_vendor/rl-tools/cmake/optional/mujoco.cmake +89 -0
  37. hyperdrone/_vendor/rl-tools/cmake/optional/optix.cmake +25 -0
  38. hyperdrone/_vendor/rl-tools/cmake/optional/raytracing.cmake +105 -0
  39. hyperdrone/_vendor/rl-tools/cmake/optional/raytracing_generic.cmake +2 -0
  40. hyperdrone/_vendor/rl-tools/cmake/optional/vulkan.cmake +4 -0
  41. hyperdrone/_vendor/rl-tools/cmake/optional/webgpu.cmake +24 -0
  42. hyperdrone/_vendor/rl-tools/cmake/scripts/embed_text.cmake +7 -0
  43. hyperdrone/_vendor/rl-tools/cmake/scripts/generate-git-snapshot.cmake +138 -0
  44. hyperdrone/_vendor/rl-tools/include/conta/conta.h +1161 -0
  45. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/matrix.h +143 -0
  46. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_arm.h +33 -0
  47. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_cpu.h +314 -0
  48. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_cpu_accelerate.h +37 -0
  49. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_cpu_blas.h +67 -0
  50. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_cpu_mkl.h +38 -0
  51. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_cpu_openblas.h +34 -0
  52. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_cuda.h +289 -0
  53. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_dummy.h +20 -0
  54. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_esp32.h +29 -0
  55. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_generic.h +944 -0
  56. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/operations_wasm32.h +13 -0
  57. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/matrix/persist_code.h +136 -0
  58. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_arm.h +1 -0
  59. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_cpu.h +94 -0
  60. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_cpu_accelerate.h +25 -0
  61. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_cpu_blas.h +115 -0
  62. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_cpu_mkl.h +25 -0
  63. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_cpu_openblas.h +25 -0
  64. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_cuda.h +713 -0
  65. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/operations_generic.h +1356 -0
  66. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/persist_code.h +130 -0
  67. hyperdrone/_vendor/rl-tools/include/rl_tools/containers/tensor/tensor.h +490 -0
  68. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/arm.h +91 -0
  69. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cpu.h +209 -0
  70. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cpu_accelerate.h +23 -0
  71. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cpu_blas.h +21 -0
  72. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cpu_mkl.h +45 -0
  73. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cpu_openblas.h +56 -0
  74. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cpu_tensorboard.h +34 -0
  75. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/cuda.h +415 -0
  76. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/devices.h +97 -0
  77. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/dummy.h +55 -0
  78. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/esp32.h +85 -0
  79. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/generic.h +0 -0
  80. hyperdrone/_vendor/rl-tools/include/rl_tools/devices/wasm32.h +59 -0
  81. hyperdrone/_vendor/rl-tools/include/rl_tools/dyn/model.h +218 -0
  82. hyperdrone/_vendor/rl-tools/include/rl_tools/dyn/operations_generic.h +769 -0
  83. hyperdrone/_vendor/rl-tools/include/rl_tools/dyn/persist.h +278 -0
  84. hyperdrone/_vendor/rl-tools/include/rl_tools/dyn/policy_adapter.h +100 -0
  85. hyperdrone/_vendor/rl-tools/include/rl_tools/dyn/policy_adapter_persist.h +52 -0
  86. hyperdrone/_vendor/rl-tools/include/rl_tools/dyn/tensor_operations_generic.h +55 -0
  87. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/applications/l2f/c_backend.h +117 -0
  88. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/applications/l2f/c_interface.h +36 -0
  89. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/applications/l2f/l2f.h +98 -0
  90. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/applications/l2f/operations_dyn.h +18 -0
  91. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/applications/l2f/operations_generic.h +268 -0
  92. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/debugging_pool/c_backend.h +31 -0
  93. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/debugging_pool/c_interface.h +12 -0
  94. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/executor/c_backend.h +98 -0
  95. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/executor/c_interface.h +50 -0
  96. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/executor/executor.h +133 -0
  97. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/executor/helper.h +109 -0
  98. hyperdrone/_vendor/rl-tools/include/rl_tools/inference/executor/operations_generic.h +219 -0
  99. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_arduino.h +117 -0
  100. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_arm.h +56 -0
  101. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_cpu.h +93 -0
  102. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_cpu_tensorboard.h +151 -0
  103. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_cuda.h +65 -0
  104. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_dummy.h +45 -0
  105. hyperdrone/_vendor/rl-tools/include/rl_tools/logging/operations_wasm32.h +56 -0
  106. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_arm.h +98 -0
  107. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_cpu.h +138 -0
  108. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_cuda.h +380 -0
  109. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_dummy.h +93 -0
  110. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_esp32.h +92 -0
  111. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_generic.h +295 -0
  112. hyperdrone/_vendor/rl-tools/include/rl_tools/math/operations_wasm32.h +230 -0
  113. hyperdrone/_vendor/rl-tools/include/rl_tools/mode/mode.h +98 -0
  114. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/activation_functions.h +113 -0
  115. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/capability/capability.h +61 -0
  116. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/capability/persist_code.h +31 -0
  117. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/group.h +99 -0
  118. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/avg_pool2d/layer.h +122 -0
  119. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/avg_pool2d/operations_cuda.h +64 -0
  120. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/avg_pool2d/operations_generic.h +186 -0
  121. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/avg_pool2d/persist.h +33 -0
  122. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/layer.h +300 -0
  123. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/operations_cpu_mkl.h +590 -0
  124. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/operations_cuda.h +809 -0
  125. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/operations_generic.h +1219 -0
  126. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/persist.h +99 -0
  127. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/conv2d/persist_code.h +170 -0
  128. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/layer.h +145 -0
  129. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_arm/dsp.h +63 -0
  130. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_arm/opt.h +173 -0
  131. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_cpu.h +13 -0
  132. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_cpu_accelerate.h +66 -0
  133. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_cpu_blas.h +282 -0
  134. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_cpu_mkl.h +66 -0
  135. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_cpu_openblas.h +65 -0
  136. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_cuda.h +519 -0
  137. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_dummy.h +8 -0
  138. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_esp32/dsp.h +58 -0
  139. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_esp32/opt.h +167 -0
  140. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/operations_generic.h +429 -0
  141. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/persist.h +62 -0
  142. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/persist_code.h +178 -0
  143. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dense/persist_common.h +59 -0
  144. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dynamic_conv2d/layer.h +188 -0
  145. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dynamic_conv2d/operations_cuda.h +356 -0
  146. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dynamic_conv2d/operations_generic.h +536 -0
  147. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/dynamic_conv2d/persist.h +32 -0
  148. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/embedding/layer.h +119 -0
  149. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/embedding/operations_generic.h +223 -0
  150. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/embedding/persist.h +46 -0
  151. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/flatten/layer.h +121 -0
  152. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/flatten/operations_generic.h +154 -0
  153. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/flatten/persist.h +44 -0
  154. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/flatten/persist_code.h +106 -0
  155. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/gru/helper_operations_cuda.h +602 -0
  156. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/gru/helper_operations_generic.h +251 -0
  157. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/gru/layer.h +206 -0
  158. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/gru/operations_generic.h +889 -0
  159. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/gru/persist.h +75 -0
  160. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/gru/persist_code.h +199 -0
  161. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/layers.h +3 -0
  162. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/max_pool2d/layer.h +143 -0
  163. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/max_pool2d/operations_cuda.h +80 -0
  164. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/max_pool2d/operations_generic.h +216 -0
  165. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/max_pool2d/persist.h +39 -0
  166. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_cpu.h +1 -0
  167. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_cpu_accelerate.h +1 -0
  168. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_cpu_blas.h +1 -0
  169. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_cpu_mkl.h +3 -0
  170. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_cpu_openblas.h +1 -0
  171. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_cuda.h +9 -0
  172. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_dummy.h +1 -0
  173. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/operations_generic.h +3 -0
  174. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/resnet_block/layer.h +223 -0
  175. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/resnet_block/operations_cuda.h +138 -0
  176. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/resnet_block/operations_generic.h +446 -0
  177. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/resnet_block/persist.h +70 -0
  178. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/sample_and_squash/layer.h +154 -0
  179. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/sample_and_squash/operations_cuda.h +119 -0
  180. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/sample_and_squash/operations_generic.h +502 -0
  181. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/sample_and_squash/persist.h +50 -0
  182. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/sample_and_squash/persist_code.h +173 -0
  183. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/standardize/layer.h +116 -0
  184. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/standardize/operations_cuda.h +156 -0
  185. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/standardize/operations_generic.h +295 -0
  186. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/standardize/persist.h +83 -0
  187. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/standardize/persist_code.h +163 -0
  188. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/td3_sampling/layer.h +123 -0
  189. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/td3_sampling/operations_generic.h +272 -0
  190. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/td3_sampling/persist.h +17 -0
  191. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/td3_sampling/persist_code.h +164 -0
  192. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/unflatten/layer.h +122 -0
  193. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/unflatten/operations_cuda.h +55 -0
  194. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/unflatten/operations_generic.h +160 -0
  195. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/unflatten/persist.h +47 -0
  196. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/unflatten/persist_code.h +106 -0
  197. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/upsample2d/layer.h +132 -0
  198. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/upsample2d/operations_cuda.h +141 -0
  199. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/layers/upsample2d/operations_generic.h +230 -0
  200. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/loss_functions/categorical_cross_entropy/operations_generic.h +102 -0
  201. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/loss_functions/mse/operations_cuda.h +97 -0
  202. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/loss_functions/mse/operations_generic.h +101 -0
  203. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/loss_functions/operations_generic.h +2 -0
  204. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/nn.h +14 -0
  205. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cpu.h +1 -0
  206. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cpu_accelerate.h +1 -0
  207. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cpu_blas.h +1 -0
  208. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cpu_mkl.h +1 -0
  209. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cpu_mux.h +16 -0
  210. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cpu_openblas.h +1 -0
  211. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_cuda.h +2 -0
  212. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_dummy.h +1 -0
  213. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/operations_generic.h +15 -0
  214. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/adam.h +121 -0
  215. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/instance/operations_cuda.h +98 -0
  216. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/instance/operations_generic.h +150 -0
  217. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/instance/persist.h +39 -0
  218. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/instance/persist_code.h +80 -0
  219. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/operations_cuda.h +85 -0
  220. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/operations_generic.h +109 -0
  221. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/adam/persist.h +25 -0
  222. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/lamb/instance/operations_generic.h +107 -0
  223. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/lamb/lamb.h +40 -0
  224. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/lamb/operations_generic.h +68 -0
  225. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/optimizers.h +3 -0
  226. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/instance/operations_cuda.h +85 -0
  227. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/instance/operations_generic.h +140 -0
  228. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/instance/persist.h +37 -0
  229. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/instance/persist_code.h +72 -0
  230. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/operations_cuda.h +49 -0
  231. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/operations_generic.h +50 -0
  232. hyperdrone/_vendor/rl-tools/include/rl_tools/nn/optimizers/sgd/sgd.h +92 -0
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  660. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/example.cpp +273 -0
  661. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/fixed_pose.cpp +221 -0
  662. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/flow.cpp +120 -0
  663. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/interactive.cpp +1015 -0
  664. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/make_drone_glb.py +172 -0
  665. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/minimal.cpp +82 -0
  666. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/minimal_overlay.cpp +137 -0
  667. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/motion_blur.cpp +232 -0
  668. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/render_pose_trace.cpp +1829 -0
  669. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/render_pose_trace_motion_blur.cpp +647 -0
  670. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/web/assimp/CMakeLists.txt +8 -0
  671. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/web/build.sh +80 -0
  672. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/example/web/drone_web.cpp +234 -0
  673. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/CMakeLists.txt +147 -0
  674. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/README.md +15 -0
  675. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/job.sbatch +28 -0
  676. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/model.h +260 -0
  677. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/model_config.h +24 -0
  678. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/model_forward_cuda.h +397 -0
  679. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/model_operations.h +418 -0
  680. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/model_persist.h +45 -0
  681. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/model_student.h +70 -0
  682. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/scene.cpp +222 -0
  683. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/scene.h +68 -0
  684. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/.gitignore +4 -0
  685. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/CMakeLists.txt +4 -0
  686. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/Info.plist +24 -0
  687. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/Info_ios.plist +36 -0
  688. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/Sources/CameraManager.swift +120 -0
  689. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/Sources/ContentView.swift +703 -0
  690. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/Sources/DatasetRecorder.swift +285 -0
  691. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/Sources/YawPredictorApp.swift +25 -0
  692. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/YawPredictor.entitlements +8 -0
  693. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/build.sh +66 -0
  694. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/build_ios.sh +133 -0
  695. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/generate.sh +6 -0
  696. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/h5_to_tar.cpp +82 -0
  697. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/inference.cpp +166 -0
  698. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/inference.h +26 -0
  699. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/project.yml +30 -0
  700. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/swift_app/test_tar_vs_hdf5.cpp +173 -0
  701. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/yaw_prediction_cuda.cu +699 -0
  702. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/yaw_prediction_dataset_overlay.cpp +475 -0
  703. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/yaw_prediction_distill_cuda.cu +995 -0
  704. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/yaw_prediction_eval.cu +457 -0
  705. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/yaw_prediction_real_world_eval.cpp +660 -0
  706. hyperdrone/_vendor/rl-tools/src/rendering/raytracing/yaw_prediction/yaw_prediction_viewer.cu +443 -0
  707. hyperdrone/cuda/__init__.py +78 -0
  708. hyperdrone/dynamics/__init__.py +22 -0
  709. hyperdrone/dynamics/_component.py +35 -0
  710. hyperdrone/dynamics/_config.py +48 -0
  711. hyperdrone/dynamics/_sim.py +195 -0
  712. hyperdrone/env/__init__.py +17 -0
  713. hyperdrone/env/_multi_environment.py +407 -0
  714. hyperdrone/env/_rotorcraft.py +31 -0
  715. hyperdrone/examples/.gitignore +2 -0
  716. hyperdrone/examples/Benchmark.ipynb +102 -0
  717. hyperdrone/examples/HyperDrone.ipynb +514 -0
  718. hyperdrone/examples/Orbiter.ipynb +462 -0
  719. hyperdrone/examples/Renderer.ipynb +173 -0
  720. hyperdrone/examples/__init__.py +16 -0
  721. hyperdrone/examples/articulation.py +55 -0
  722. hyperdrone/examples/benchmark.py +236 -0
  723. hyperdrone/examples/benchmark_minimal.py +65 -0
  724. hyperdrone/examples/data.py +70 -0
  725. hyperdrone/examples/drone_flythrough.py +169 -0
  726. hyperdrone/examples/hyperdrone_videos/my_world_preview.h +17 -0
  727. hyperdrone/examples/my_world.h +17 -0
  728. hyperdrone/examples/render_procthor.py +41 -0
  729. hyperdrone/examples/visual_inertial_localization.py +159 -0
  730. hyperdrone/gym/__init__.py +63 -0
  731. hyperdrone/jit/__init__.py +129 -0
  732. hyperdrone/jit/_build.py +113 -0
  733. hyperdrone/jit/_lock.py +23 -0
  734. hyperdrone/jit/_patches.py +99 -0
  735. hyperdrone/jit/_toolchain.py +17 -0
  736. hyperdrone/jit/_workspace.py +68 -0
  737. hyperdrone/render/__init__.py +53 -0
  738. hyperdrone/render/_component.py +51 -0
  739. hyperdrone/render/_config.py +92 -0
  740. hyperdrone/render/_renderer.py +447 -0
  741. hyperdrone/render/_rig.py +136 -0
  742. hyperdrone/render/_sampling.py +69 -0
  743. hyperdrone/render/_scene.py +36 -0
  744. hyperverse-0.0.1.dist-info/METADATA +370 -0
  745. hyperverse-0.0.1.dist-info/RECORD +746 -0
  746. hyperverse-0.0.1.dist-info/WHEEL +4 -0
@@ -0,0 +1,64 @@
1
+ #include "../../../../version.h"
2
+ #if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_OPTIX_OVERLAY_ACCEL_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
3
+ #pragma once
4
+ #define RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_OPTIX_OVERLAY_ACCEL_H
5
+
6
+ #include "../../../../rl_tools.h"
7
+
8
+ #include <cuda_runtime.h>
9
+
10
+ RL_TOOLS_NAMESPACE_WRAPPER_START
11
+ // device-side overlay TLAS path: raw optixAccelBuild over device-resident instance descriptors,
12
+ // bypassing OWL's host-staged instance groups so update_launch never synchronizes the host.
13
+ // Implemented in src/rendering/raytracing/backends/optix/overlay_accel.cu (linked via the
14
+ // rendering_raytracing_backend* targets); this header stays compilable by non-CUDA TUs.
15
+ namespace rl_tools::rendering::raytracing::backends::optix{
16
+ struct OverlaySlotStructure{
17
+ unsigned int active;
18
+ unsigned int object;
19
+ };
20
+ static_assert(sizeof(OverlaySlotStructure) == 8, "OverlaySlotStructure layout must match the fill kernel");
21
+ struct OverlayObjectEntry{
22
+ unsigned long long traversable;
23
+ unsigned int sbt_offset;
24
+ unsigned int segmentation_class;
25
+ };
26
+ struct OverlayAccelState;
27
+
28
+ // num_instants: 1 for the steady state alone, 2 when flow keeps the previous instant's TLASes
29
+ // resident next to the current ones — instant i's instances carry the global ids
30
+ // [num_scene_instances + i * slots, num_scene_instances + (i + 1) * slots)
31
+ OverlayAccelState* overlay_accel_create(void* optix_device_context, unsigned int num_overlays, unsigned int max_instances, unsigned int num_scene_instances, unsigned long long filler_traversable, unsigned int num_instants);
32
+ void overlay_accel_destroy(OverlayAccelState* state);
33
+ // device pointer to the [num_overlays * max_instances] slot structure table (staging target)
34
+ OverlaySlotStructure* overlay_accel_structure(OverlayAccelState* state);
35
+ // per-object BLAS traversables + SBT offsets + classes; upload once, after owlBuildSBT
36
+ void overlay_accel_upload_objects(OverlayAccelState* state, const OverlayObjectEntry* objects, unsigned int num_objects);
37
+ // per-overlay TLAS handles of one instant; stable across rebuilds (fixed output buffers), valid after create
38
+ const unsigned long long* overlay_accel_traversables(const OverlayAccelState* state, unsigned int instant);
39
+ // enqueues the instance fill kernel and one optixAccelBuild per overlay of the given instant
40
+ // on stream; no host sync. transforms: [num_overlays * max_instances * 12] device
41
+ // geometry-to-world rows; instance_classes: per global instance id, device — the kernel
42
+ // maintains the overlay range of instant 0 (null skips the classes: the previous instant
43
+ // never feeds segmentation). shutter_out (optional device float): the fill kernel stores
44
+ // shutter_t there on-stream, so per-pass shutter times reach the accumulate ray gens without
45
+ // per-launch param uploads (which would race: OWL stages launch params through a single
46
+ // pinned host buffer)
47
+ void overlay_accel_build(OverlayAccelState* state, const float* transforms, unsigned int* instance_classes, float shutter_t, float* shutter_out, cudaStream_t stream, unsigned int instant);
48
+ // divides the linear accumulators by num_samples and writes the packed frame buffer (+
49
+ // observation) / depth buffer with the exact quantization of the single-launch path;
50
+ // null accumulator pointers skip the corresponding output
51
+ void overlay_accel_resolve(const float* rgb_accumulation, unsigned int* frame_buffer, float* observation, int srgb_output, const float* depth_accumulation, float* depth_buffer, unsigned int num_pixels, unsigned int num_samples, cudaStream_t stream);
52
+ // the device half of the host publish: for each of num_slabs slabs slab_stride rows apart,
53
+ // writes rows[(slab * count + row) * 12] into target[(slab * slab_stride + indices[row]) * 12]
54
+ void overlay_accel_scatter_rows(const unsigned int* indices, unsigned int count, const float* rows, float* target, unsigned int num_slabs, unsigned int slab_stride, cudaStream_t stream);
55
+
56
+ // flow delta table [2][slots][12] from the current and previous transforms slabs and the
57
+ // slot structure table: slab 0 carries a current-instant point to the previous instant
58
+ // (world_previous ∘ world_current⁻¹), slab 1 the inverse; identity for inactive slots — the
59
+ // on-device counterpart of detail::compose_flow_deltas
60
+ void overlay_accel_compose_flow_deltas(const OverlaySlotStructure* structure, const float* transforms, const float* transforms_previous, float* deltas, unsigned int num_overlays, unsigned int max_instances, cudaStream_t stream);
61
+ }
62
+ RL_TOOLS_NAMESPACE_WRAPPER_END
63
+
64
+ #endif
@@ -0,0 +1,38 @@
1
+ #include "../../../version.h"
2
+ #if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_SPECIALIZATION_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
3
+ #pragma once
4
+ #define RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_SPECIALIZATION_H
5
+
6
+ RL_TOOLS_NAMESPACE_WRAPPER_START
7
+ namespace rl_tools{
8
+ namespace rendering::raytracing::backends{
9
+ // single source of the shader specialization/function-constant values consumed by the
10
+ // Vulkan, Metal, and WebGPU pipelines: the derivation logic lives once so the backends
11
+ // cannot drift (binding indices and constant names stay per backend)
12
+ template <typename SPEC>
13
+ struct SpecializationConstants{
14
+ static constexpr bool SRGB_OUTPUT = SPEC::SHADING::SRGB_OUTPUT;
15
+ static constexpr bool MOTION_BLUR = SPEC::ENABLE_MOTION_BLUR;
16
+ static constexpr int MOTION_SAMPLES = SPEC::ENABLE_MOTION_BLUR ? (int)SPEC::MOTION_BLUR_SAMPLES : 1;
17
+ static constexpr int AA_GRID = SPEC::ENABLE_ANTI_ALIASING ? (int)SPEC::ANTI_ALIASING_GRID_SIZE : 1;
18
+ static constexpr bool CHECKER_BACKGROUND = SPEC::SHADING::CHECKER_BACKGROUND;
19
+ static constexpr bool LOAD_TEXTURES = SPEC::SHADING::LOAD_TEXTURES;
20
+ static constexpr bool NORMAL_SHADING = SPEC::SHADING::NORMAL_SHADING;
21
+ static constexpr bool METALLIC_REFLECTIONS = SPEC::SHADING::METALLIC_REFLECTIONS;
22
+ static constexpr bool PBR_SHADING = SPEC::SHADING::PBR_SHADING;
23
+ static constexpr bool PUNCTUAL_LIGHT_SHADOWS = SPEC::SHADING::PUNCTUAL_LIGHT_SHADOWS;
24
+ static constexpr int OVERLAY_COUNT = SPEC::ENABLE_OVERLAYS ? (int)SPEC::MAX_OVERLAYS_PER_CAMERA : 0;
25
+ static constexpr bool SEMANTIC_SEGMENTATION = SPEC::SEMANTIC_SEGMENTATION;
26
+ static constexpr bool HAS_OBSERVATION = SPEC::HAS_OBSERVATION;
27
+ static constexpr bool DYNAMIC_MOTION_BLUR = SPEC::ENABLE_DYNAMIC_MOTION_BLUR;
28
+ static constexpr bool RESOLVE_RGB = SPEC::ENABLE_DYNAMIC_MOTION_BLUR && SPEC::HAS_RGB;
29
+ static constexpr bool RESOLVE_DEPTH = SPEC::ENABLE_DYNAMIC_MOTION_BLUR && SPEC::HAS_DEPTH;
30
+ // WGSL-only consumers (the other shader backends derive these in-shader)
31
+ static constexpr int NUM_OVERLAYS = (int)SPEC::NUM_OVERLAYS;
32
+ static constexpr int OVERLAY_CAPACITY = (int)SPEC::MAX_OVERLAY_INSTANCES;
33
+ };
34
+ }
35
+ }
36
+ RL_TOOLS_NAMESPACE_WRAPPER_END
37
+
38
+ #endif
@@ -0,0 +1,248 @@
1
+ #include "../../../../version.h"
2
+ #include "../../../../rl_tools.h"
3
+ #if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_VULKAN_CONTEXT_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
4
+ #pragma once
5
+ #define RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_VULKAN_CONTEXT_H
6
+
7
+ #include "../../types.h"
8
+
9
+ #include <vulkan/vulkan.h>
10
+
11
+ #include <vector>
12
+ #include <cstdint>
13
+
14
+ RL_TOOLS_NAMESPACE_WRAPPER_START
15
+ namespace rl_tools::rendering::raytracing::backends::vulkan{
16
+ // Descriptor bindings shared between the host code and the GLSL kernels in device.comp
17
+ namespace bindings{
18
+ constexpr uint32_t LAUNCH_PARAMS = 0;
19
+ constexpr uint32_t CAMERAS_CLOSE = 1;
20
+ constexpr uint32_t CAMERAS_OPEN = 2;
21
+ constexpr uint32_t FRAME_BUFFER = 3;
22
+ constexpr uint32_t MESH_RECORDS = 4;
23
+ constexpr uint32_t SCENE_LIGHTS = 5;
24
+ constexpr uint32_t PROBE_DIRECTIONS = 6;
25
+ constexpr uint32_t COLLISION_RESULTS = 7;
26
+ constexpr uint32_t ACCELERATION_STRUCTURE = 8;
27
+ constexpr uint32_t DEPTH_BUFFER = 9;
28
+ constexpr uint32_t SEGMENTATION_BUFFER = 10;
29
+ constexpr uint32_t INSTANCE_RECORD_BASE = 11;
30
+ constexpr uint32_t INSTANCE_DATA = 12;
31
+ constexpr uint32_t OVERLAY_ATTACHMENTS = 13;
32
+ constexpr uint32_t OVERLAY_NUM_ACTIVE = 14;
33
+ constexpr uint32_t OVERLAY_TLAS = 15;
34
+ constexpr uint32_t INSTANCE_CLASSES = 16;
35
+ constexpr uint32_t OBSERVATION = 17;
36
+ constexpr uint32_t RGB_ACCUMULATOR = 18;
37
+ constexpr uint32_t DEPTH_ACCUMULATOR = 19;
38
+ constexpr uint32_t NORMALS_BUFFER = 20;
39
+ constexpr uint32_t FLOW_BUFFER = 21;
40
+ constexpr uint32_t FLOW_DELTAS = 22; // internal [2][slots][12] delta table composed by update()
41
+ constexpr uint32_t FLOW_STATUS_BUFFER = 23;
42
+ constexpr uint32_t FLOW_FORWARD_BUFFER = 24;
43
+ constexpr uint32_t FLOW_FORWARD_STATUS_BUFFER = 25;
44
+ constexpr uint32_t CAMERAS_PREVIOUS = 26;
45
+ constexpr uint32_t OVERLAY_NUM_ACTIVE_PREVIOUS = 27;
46
+ constexpr uint32_t OVERLAY_TLAS_PREVIOUS = 28; // the previous instant's overlay TLASes (flow visibility / forward primaries)
47
+ constexpr uint32_t TEXTURES = 29; // variable-descriptor-count binding must have the largest binding number in the set
48
+ constexpr uint32_t COUNT = 30;
49
+ }
50
+ namespace specialization_constants{
51
+ constexpr uint32_t SRGB_OUTPUT = 0;
52
+ constexpr uint32_t MOTION_BLUR = 1;
53
+ constexpr uint32_t MOTION_SAMPLES = 2;
54
+ constexpr uint32_t AA_GRID = 3;
55
+ constexpr uint32_t CHECKER_BACKGROUND = 4;
56
+ constexpr uint32_t LOAD_TEXTURES = 5;
57
+ constexpr uint32_t NORMAL_SHADING = 6;
58
+ constexpr uint32_t METALLIC_REFLECTIONS = 7;
59
+ constexpr uint32_t PBR_SHADING = 8;
60
+ constexpr uint32_t PUNCTUAL_LIGHT_SHADOWS = 9;
61
+ constexpr uint32_t OVERLAY_COUNT = 10;
62
+ constexpr uint32_t SEMANTIC_SEGMENTATION = 11;
63
+ constexpr uint32_t HAS_OBSERVATION = 12;
64
+ constexpr uint32_t DYNAMIC_MOTION_BLUR = 13;
65
+ constexpr uint32_t RESOLVE_RGB = 14;
66
+ constexpr uint32_t RESOLVE_DEPTH = 15;
67
+ constexpr uint32_t COUNT = 16;
68
+ }
69
+ constexpr uint32_t WORKGROUP_SIZE = 8;
70
+ constexpr uint32_t MAX_TEXTURE_DESCRIPTORS = 4096;
71
+
72
+ struct LaunchParams{
73
+ uint32_t fb_width;
74
+ uint32_t fb_height;
75
+ uint32_t cam_width;
76
+ uint32_t cam_height;
77
+ uint32_t grid_cols;
78
+ uint32_t num_cameras;
79
+ uint32_t num_probes;
80
+ uint32_t num_scene_lights;
81
+ float max_depth;
82
+ float max_dist;
83
+ float ambient_color[3];
84
+ float miss_color_0[3];
85
+ float miss_color_1[3];
86
+ uint32_t first_overlay_instance; // global instance ids >= this index the flow-delta table
87
+ uint32_t num_overlay_slots; // NUM_OVERLAYS * MAX_OVERLAY_INSTANCES: flow-delta slab stride and the previous-instant id shift
88
+ float padding[1];
89
+ };
90
+ static_assert(sizeof(LaunchParams) == 88, "LaunchParams layout must match the GLSL declaration in device.comp");
91
+
92
+ struct MeshRecord{
93
+ uint64_t index;
94
+ uint64_t vertices;
95
+ uint64_t tex_coord;
96
+ uint64_t normal;
97
+ uint32_t texture;
98
+ uint32_t normal_map;
99
+ uint32_t metallic_roughness_map;
100
+ uint32_t emissive_map;
101
+ uint32_t occlusion_map;
102
+ float color[3];
103
+ float metallic;
104
+ float roughness;
105
+ float opacity;
106
+ float emissive[3];
107
+ float alpha_cutoff;
108
+ int32_t alpha_mode;
109
+ int32_t has_texture;
110
+ int32_t has_normal_map;
111
+ int32_t has_metallic_roughness_map;
112
+ int32_t has_emissive_map;
113
+ int32_t has_occlusion_map;
114
+ int32_t has_tex_coord;
115
+ int32_t has_normals;
116
+ int32_t unlit;
117
+ };
118
+ static_assert(sizeof(MeshRecord) == 128, "MeshRecord layout must match the GLSL declaration in device.comp");
119
+
120
+ struct InstanceData{
121
+ float object_to_world[12]; // 3x4 row-major [R|t]
122
+ float world_to_object[12];
123
+ uint32_t identity;
124
+ uint32_t padding[3];
125
+ };
126
+ static_assert(sizeof(InstanceData) == 112, "InstanceData layout must match the GLSL std430 declaration in device.comp");
127
+
128
+ struct BufferResource{
129
+ VkBuffer buffer = VK_NULL_HANDLE;
130
+ VkDeviceMemory memory = VK_NULL_HANDLE;
131
+ void* mapped = nullptr;
132
+ VkDeviceSize size = 0;
133
+ };
134
+
135
+ struct ImageResource{
136
+ VkImage image = VK_NULL_HANDLE;
137
+ VkDeviceMemory memory = VK_NULL_HANDLE;
138
+ VkImageView view = VK_NULL_HANDLE;
139
+ };
140
+
141
+ struct Context{
142
+ VkInstance instance = VK_NULL_HANDLE;
143
+ VkPhysicalDevice physical_device = VK_NULL_HANDLE;
144
+ VkDevice device = VK_NULL_HANDLE;
145
+ uint32_t queue_family_index = 0;
146
+ VkDeviceSize min_scratch_alignment = 256;
147
+ VkQueue queue = VK_NULL_HANDLE;
148
+ VkCommandPool command_pool = VK_NULL_HANDLE;
149
+
150
+ PFN_vkCreateAccelerationStructureKHR vkCreateAccelerationStructureKHR = nullptr;
151
+ PFN_vkDestroyAccelerationStructureKHR vkDestroyAccelerationStructureKHR = nullptr;
152
+ PFN_vkGetAccelerationStructureBuildSizesKHR vkGetAccelerationStructureBuildSizesKHR = nullptr;
153
+ PFN_vkCmdBuildAccelerationStructuresKHR vkCmdBuildAccelerationStructuresKHR = nullptr;
154
+ PFN_vkGetAccelerationStructureDeviceAddressKHR vkGetAccelerationStructureDeviceAddressKHR = nullptr;
155
+
156
+ VkDescriptorSetLayout descriptor_set_layout = VK_NULL_HANDLE;
157
+ VkPipelineLayout pipeline_layout = VK_NULL_HANDLE;
158
+ VkShaderModule module_rgb = VK_NULL_HANDLE;
159
+ VkShaderModule module_depth = VK_NULL_HANDLE;
160
+ VkShaderModule module_collision = VK_NULL_HANDLE;
161
+ VkShaderModule module_segmentation = VK_NULL_HANDLE;
162
+ VkShaderModule module_normals = VK_NULL_HANDLE;
163
+ VkShaderModule module_flow = VK_NULL_HANDLE;
164
+ VkShaderModule module_flow_forward = VK_NULL_HANDLE;
165
+ VkShaderModule module_resolve = VK_NULL_HANDLE;
166
+ VkPipeline rgb_pipeline = VK_NULL_HANDLE;
167
+ VkPipeline depth_pipeline = VK_NULL_HANDLE;
168
+ VkPipeline collision_pipeline = VK_NULL_HANDLE;
169
+ VkPipeline segmentation_pipeline = VK_NULL_HANDLE;
170
+ VkPipeline normals_pipeline = VK_NULL_HANDLE;
171
+ VkPipeline flow_pipeline = VK_NULL_HANDLE;
172
+ VkPipeline flow_forward_pipeline = VK_NULL_HANDLE;
173
+ VkPipeline resolve_pipeline = VK_NULL_HANDLE;
174
+ VkDescriptorPool descriptor_pool = VK_NULL_HANDLE;
175
+ VkDescriptorSet descriptor_set = VK_NULL_HANDLE;
176
+ VkSampler sampler = VK_NULL_HANDLE;
177
+
178
+ BufferResource launch_params;
179
+ BufferResource cameras;
180
+ BufferResource cameras_open;
181
+ BufferResource cameras_previous;
182
+ BufferResource frame_buffer;
183
+ BufferResource depth_buffer;
184
+ BufferResource collision_results;
185
+ BufferResource probe_directions;
186
+ BufferResource mesh_records;
187
+ BufferResource scene_lights;
188
+ BufferResource mesh_data;
189
+ BufferResource tlas_buffer;
190
+ BufferResource instance_buffer;
191
+ BufferResource segmentation_buffer;
192
+ BufferResource normals_buffer;
193
+ BufferResource flow_buffer;
194
+ BufferResource flow_status_buffer;
195
+ BufferResource flow_forward_buffer;
196
+ BufferResource flow_forward_status_buffer;
197
+ BufferResource flow_deltas;
198
+ BufferResource observation;
199
+ BufferResource instance_data;
200
+ BufferResource instance_record_base;
201
+ BufferResource instance_classes;
202
+ BufferResource overlay_attachments;
203
+ BufferResource overlay_num_active;
204
+ BufferResource overlay_num_active_previous;
205
+ BufferResource overlay_scratch;
206
+ BufferResource rgb_accumulator;
207
+ BufferResource depth_accumulator;
208
+ BufferResource dummy;
209
+
210
+ std::vector<ImageResource> mesh_textures; // index 0 = dummy 1x1 white
211
+ std::vector<VkAccelerationStructureKHR> blas_list; // one per object
212
+ std::vector<BufferResource> blas_buffers;
213
+ std::vector<VkDeviceAddress> blas_addresses;
214
+ std::vector<uint32_t> object_record_base; // object -> first index into mesh_records
215
+ std::vector<uint32_t> object_classes; // object -> segmentation_class, consumed by update() for overlay slots
216
+ uint32_t num_scene_instances = 0;
217
+ VkAccelerationStructureKHR tlas = VK_NULL_HANDLE;
218
+ std::vector<VkAccelerationStructureKHR> overlay_tlas; // one per overlay, rebuilt in place by update()
219
+ std::vector<BufferResource> overlay_tlas_buffers;
220
+ std::vector<BufferResource> overlay_instance_buffers;
221
+ std::vector<BufferResource> overlay_sample_instance_buffers; // dynamic motion blur: one per motion sample, NUM_OVERLAYS * MAX_OVERLAY_INSTANCES descriptors each
222
+ // flow: the previous instant's overlay TLASes, resident next to the current ones and
223
+ // rebuilt in place from transforms_previous by update() (shifted instance-id range)
224
+ std::vector<VkAccelerationStructureKHR> overlay_tlas_previous;
225
+ std::vector<BufferResource> overlay_tlas_previous_buffers;
226
+ std::vector<BufferResource> overlay_instance_buffers_previous;
227
+ VkDeviceSize overlay_scratch_stride = 0;
228
+
229
+ VkCommandBuffer cb_rgb = VK_NULL_HANDLE;
230
+ VkCommandBuffer cb_depth = VK_NULL_HANDLE;
231
+ VkCommandBuffer cb_collision = VK_NULL_HANDLE;
232
+ VkCommandBuffer cb_segmentation = VK_NULL_HANDLE;
233
+ VkCommandBuffer cb_normals = VK_NULL_HANDLE;
234
+ VkCommandBuffer cb_flow = VK_NULL_HANDLE;
235
+ VkCommandBuffer cb_flow_forward = VK_NULL_HANDLE;
236
+ VkCommandBuffer cb_dynamic = VK_NULL_HANDLE; // dynamic motion blur frame, re-recorded per render_launch
237
+ VkFence fence_render = VK_NULL_HANDLE;
238
+ VkFence fence_collision = VK_NULL_HANDLE;
239
+ VkFence fence_update = VK_NULL_HANDLE;
240
+ VkCommandBuffer update_command_buffer = VK_NULL_HANDLE;
241
+ bool render_in_flight = false;
242
+ bool collision_in_flight = false;
243
+ bool pipelines_built = false;
244
+ };
245
+ }
246
+ RL_TOOLS_NAMESPACE_WRAPPER_END
247
+
248
+ #endif
@@ -0,0 +1,48 @@
1
+ #include "../../../../version.h"
2
+ #include "../../../../rl_tools.h"
3
+ #if (defined(RL_TOOLS_DISABLE_INCLUDE_GUARDS) || !defined(RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_VULKAN_DEVICE_SOURCE_H)) && (RL_TOOLS_USE_THIS_VERSION == 1)
4
+ #pragma once
5
+ #define RL_TOOLS_RENDERING_RAYTRACING_BACKENDS_VULKAN_DEVICE_SOURCE_H
6
+
7
+ #include <cstdint>
8
+ #include <cstddef>
9
+
10
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_rgb(size_t* size_bytes);
11
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_depth(size_t* size_bytes);
12
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_collision(size_t* size_bytes);
13
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_segmentation(size_t* size_bytes);
14
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_normals(size_t* size_bytes);
15
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_flow(size_t* size_bytes);
16
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_flow_forward(size_t* size_bytes);
17
+ extern "C" const uint32_t* rl_tools_rendering_raytracing_vulkan_device_spirv_resolve(size_t* size_bytes);
18
+
19
+ RL_TOOLS_NAMESPACE_WRAPPER_START
20
+ namespace rl_tools::rendering::raytracing::backends::vulkan{
21
+ inline const uint32_t* device_spirv_rgb(size_t& size_bytes){
22
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_rgb(&size_bytes);
23
+ }
24
+ inline const uint32_t* device_spirv_depth(size_t& size_bytes){
25
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_depth(&size_bytes);
26
+ }
27
+ inline const uint32_t* device_spirv_collision(size_t& size_bytes){
28
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_collision(&size_bytes);
29
+ }
30
+ inline const uint32_t* device_spirv_segmentation(size_t& size_bytes){
31
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_segmentation(&size_bytes);
32
+ }
33
+ inline const uint32_t* device_spirv_normals(size_t& size_bytes){
34
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_normals(&size_bytes);
35
+ }
36
+ inline const uint32_t* device_spirv_flow(size_t& size_bytes){
37
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_flow(&size_bytes);
38
+ }
39
+ inline const uint32_t* device_spirv_flow_forward(size_t& size_bytes){
40
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_flow_forward(&size_bytes);
41
+ }
42
+ inline const uint32_t* device_spirv_resolve(size_t& size_bytes){
43
+ return rl_tools_rendering_raytracing_vulkan_device_spirv_resolve(&size_bytes);
44
+ }
45
+ }
46
+ RL_TOOLS_NAMESPACE_WRAPPER_END
47
+
48
+ #endif