From c3b2a35c1ad7d60510d8c9989d55b9d0038c9bba Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Fri, 18 Jul 2025 00:30:01 -0500
Subject: [PATCH 1/7] feat: sdf visualization, (*kdtree)

---
 Cargo.lock                                    | 743 +++++++++++++-----
 Cargo.toml                                    |  12 +-
 .../bevy_zeroverse_dataloader/__init__.py     |   1 +
 ffi/src/lib.rs                                |   2 +
 src/camera.rs                                 |   7 +
 src/render/mod.rs                             |  10 +
 src/render/sdf.rs                             | 682 ++++++++++++++++
 src/render/sdf.wgsl                           | 153 ++++
 src/scene/mod.rs                              |  45 +-
 src/scene/object.rs                           |   4 +
 src/scene/semantic_room.rs                    |  40 +-
 11 files changed, 1465 insertions(+), 234 deletions(-)
 create mode 100644 src/render/sdf.rs
 create mode 100644 src/render/sdf.wgsl

diff --git a/Cargo.lock b/Cargo.lock
index 6414f08..66b2e13 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -23,6 +23,10 @@ name = "accesskit"
 version = "0.18.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "becf0eb5215b6ecb0a739c31c21bd83c4f326524c9b46b7e882d77559b60a529"
+dependencies = [
+ "enumn",
+ "serde",
+]
 
 [[package]]
 name = "accesskit_consumer"
@@ -128,7 +132,7 @@ dependencies = [
  "ndk",
  "ndk-context",
  "ndk-sys 0.6.0+11769913",
- "num_enum",
+ "num_enum 0.7.3",
  "thiserror 1.0.69",
 ]
 
@@ -264,7 +268,7 @@ checksum = "0ae92a5119aa49cdbcf6b9f893fe4e1d98b04ccbf82ee0584ad948a44a734dea"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -302,7 +306,7 @@ checksum = "f548ad2c4031f2902e3edc1f29c29e835829437de49562d8eb5dc5584d3a1043"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -435,9 +439,9 @@ checksum = "72b3254f16251a8381aa12e40e3c4d2f0199f8c6508fbecb9d91f575e0fbb8c6"
 
 [[package]]
 name = "bevy"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a5cd3b24a5adb7c7378da7b3eea47639877643d11b6b087fc8a8094f2528615"
+checksum = "4b8369c16b7c017437021341521f8b4a0d98e1c70113fb358c3258ae7d661d79"
 dependencies = [
  "bevy_dylib",
  "bevy_internal",
@@ -485,27 +489,28 @@ checksum = "2656316165dbe2af6b3acaa763332f5dbdd12f809d59f5bf4304e0642a8005c9"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
 name = "bevy_a11y"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91ed969a58fbe449ef35ebec58ab19578302537f34ee8a35d04e5a038b3c40f5"
+checksum = "ed3561712cf49074d89e9989bfc2e6c6add5d33288f689db9a0c333300d2d004"
 dependencies = [
  "accesskit",
  "bevy_app",
  "bevy_derive",
  "bevy_ecs",
  "bevy_reflect",
+ "serde",
 ]
 
 [[package]]
 name = "bevy_app"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2b6267ac23a9947d5b2725ff047a1e1add70076d85fa9fb73d044ab9bea1f3c"
+checksum = "4491cc4c718ae76b4c6883df58b94cc88b32dcd894ea8d5b603c7c7da72ca967"
 dependencies = [
  "bevy_derive",
  "bevy_ecs",
@@ -541,9 +546,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_asset"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0698040d63199391ea77fd02e039630748e3e335c3070c6d932fd96cbf80f5d6"
+checksum = "f56111d9b88d8649f331a667d9d72163fb26bd09518ca16476d238653823db1e"
 dependencies = [
  "async-broadcast",
  "async-fs",
@@ -581,21 +586,21 @@ dependencies = [
 
 [[package]]
 name = "bevy_asset_macros"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0bf8c00b5d532f8e5ac7b49af10602f9f7774a2d522cf0638323b5dfeee7b31c"
+checksum = "a4cca3e67c0ec760d8889d42293d987ce5da92eaf9c592bf5d503728a63b276d"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
 name = "bevy_color"
-version = "0.16.1"
+version = "0.16.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddf6a5ad35496bbc41713efbcf06ab72b9a310fabcab0f9db1debb56e8488c6e"
+checksum = "5c101cbe1e26b8d701eb77263b14346e2e0cbbd2a6e254b9b1aead814e5ca8d3"
 dependencies = [
  "bevy_math",
  "bevy_reflect",
@@ -609,9 +614,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_core_pipeline"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55c2310717b9794e4a45513ee5946a7be0838852a4c1e185884195e1a8688ff3"
+checksum = "59ed46363cad80dc00f08254c3015232bd6f640738403961c6d63e7ecfc61625"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -639,20 +644,20 @@ dependencies = [
 
 [[package]]
 name = "bevy_derive"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f626531b9c05c25a758ede228727bd11c2c2c8498ecbed9925044386d525a2a3"
+checksum = "1b837bf6c51806b10ebfa9edf1844ad80a3a0760d6c5fac4e90761df91a8901a"
 dependencies = [
  "bevy_macro_utils",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
 name = "bevy_diagnostic"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "048a1ff3944a534b8472516866284181eef0a75b6dd4d39b6e5925715e350766"
+checksum = "48797366f312a8f31e237d08ce3ee70162591282d2bfe7c5ad8be196fb263e55"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -667,18 +672,18 @@ dependencies = [
 
 [[package]]
 name = "bevy_dylib"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "843c7ce266dfc46e49d01fbf9aa1829d33b70a1859b9ed6a526ac03070c52e97"
+checksum = "1dc3602098b2604941b2829a04ac316de1e36aad949cbffce8861896b9b32532"
 dependencies = [
  "bevy_internal",
 ]
 
 [[package]]
 name = "bevy_ecs"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9e807b5d9aab3bb8dfe47e7a44c9ff088bad2ceefe299b80ac77609a87fe9d4"
+checksum = "3c2bf6521aae57a0ec3487c4bfb59e36c4a378e834b626a4bea6a885af2fdfe7"
 dependencies = [
  "arrayvec",
  "bevy_ecs_macros",
@@ -704,14 +709,14 @@ dependencies = [
 
 [[package]]
 name = "bevy_ecs_macros"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "467d7bb98aeb8dd30f36e6a773000c12a891d4f1bee2adc3841ec89cc8eaf54e"
+checksum = "38748d6f3339175c582d751f410fb60a93baf2286c3deb7efebb0878dce7f413"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -753,19 +758,45 @@ dependencies = [
 
 [[package]]
 name = "bevy_encase_derive"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8bb31dc1090c6f8fabbf6b21994d19a12766e786885ee48ffc547f0f1fa7863"
+checksum = "8148f4edee470a2ea5cad010184c492a4c94c36d7a7158ea28e134ea87f274ab"
 dependencies = [
  "bevy_macro_utils",
  "encase_derive_impl",
 ]
 
+[[package]]
+name = "bevy_gaussian_splatting"
+version = "5.0.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e362c56b856723cca44f62a3cc01b3e6e6d4c6399f5f04ccffbaf4823ba09c23"
+dependencies = [
+ "bevy",
+ "bevy_args",
+ "bevy_interleave",
+ "bytemuck",
+ "clap",
+ "console_error_panic_hook",
+ "flexbuffers",
+ "half",
+ "ply-rs",
+ "rand",
+ "rayon",
+ "serde",
+ "serde_json",
+ "static_assertions",
+ "typenum",
+ "wasm-bindgen",
+ "web-sys",
+ "wgpu",
+]
+
 [[package]]
 name = "bevy_gizmos"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54af8145b35ab2a830a6dd1058e23c1e1ddc4b893db79d295259ef82f51c7520"
+checksum = "7823154a9682128c261d8bddb3a4d7192a188490075c527af04520c2f0f8aad6"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -788,21 +819,21 @@ dependencies = [
 
 [[package]]
 name = "bevy_gizmos_macros"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40137ace61f092b7a09eba41d7d1e6aef941f53a7818b06ef86dcce7b6a1fd3f"
+checksum = "f378f3b513218ddc78254bbe76536d9de59c1429ebd0c14f5d8f2a25812131ad"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
 name = "bevy_gltf"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa25b809ee024ef2682bafc1ca22ca8275552edb549dc6f69a030fdffd976c63"
+checksum = "10a080237c0b8842ccc15a06d3379302c68580eeea4497b1c7387e470eda1f07"
 dependencies = [
  "base64 0.22.1",
  "bevy_app",
@@ -834,9 +865,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_image"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "840b25f7f58894c641739f756959028a04f519c448db7e2cd3e2e29fc5fd188d"
+checksum = "65e6e900cfecadbc3149953169e36b9e26f922ed8b002d62339d8a9dc6129328"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -862,9 +893,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_input"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "763410715714f3d4d2dcdf077af276e2e4ea93fd8081b183d446d060ea95baaa"
+checksum = "18d6b6516433f6f7d680f648d04eb1866bb3927a1782d52f74831b62042f3cd1"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -874,15 +905,16 @@ dependencies = [
  "bevy_utils",
  "derive_more",
  "log",
+ "serde",
  "smol_str",
  "thiserror 2.0.12",
 ]
 
 [[package]]
 name = "bevy_input_focus"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d7e7b4ed65e10927a39a987cf85ef98727dd319aafb6e6835f2cb05b883c6d66"
+checksum = "2e2d079fda74d1416e0a57dac29ea2b79ff77f420cd6b87f833d3aa29a46bc4d"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -894,11 +926,54 @@ dependencies = [
  "thiserror 2.0.12",
 ]
 
+[[package]]
+name = "bevy_interleave"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6bfe1f7e02a4113fd2ee3be2cbc7647234a9e84d5f176d562e74c0b9fc77dcba"
+dependencies = [
+ "bevy",
+ "bevy_interleave_interface",
+ "bevy_interleave_macros",
+ "bytemuck",
+ "console_error_panic_hook",
+ "serde",
+ "wasm-bindgen",
+ "web-sys",
+ "wgpu",
+]
+
+[[package]]
+name = "bevy_interleave_interface"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85dfed00d02ff904f9140e2f7e65a2a3a1dd57323d9be95799ea7712bb784522"
+dependencies = [
+ "bevy",
+]
+
+[[package]]
+name = "bevy_interleave_macros"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9b2f1c9a83705a01dc2968dd3e8860073ba106c6f9198b9c6e8bee6d19f90e65"
+dependencies = [
+ "bevy",
+ "bevy_interleave_interface",
+ "bytemuck",
+ "convert_case",
+ "proc-macro2",
+ "quote",
+ "sha1",
+ "syn 2.0.101",
+ "wgpu",
+]
+
 [[package]]
 name = "bevy_internal"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "526ffd64c58004cb97308826e896c07d0e23dc056c243b97492e31cdf72e2830"
+checksum = "857da8785678fde537d02944cd20dec9cafb7d4c447efe15f898dc60e733cacd"
 dependencies = [
  "bevy_a11y",
  "bevy_app",
@@ -935,9 +1010,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_log"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7156df8d2f11135cf71c03eb4c11132b65201fd4f51648571e59e39c9c9ee2f6"
+checksum = "d7a61ee8aef17a974f5ca481dcedf0c2bd52670e231d4c4bc9ddef58328865f9"
 dependencies = [
  "android_log-sys",
  "bevy_app",
@@ -952,22 +1027,22 @@ dependencies = [
 
 [[package]]
 name = "bevy_macro_utils"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a2473db70d8785b5c75d6dd951a2e51e9be2c2311122db9692c79c9d887517b"
+checksum = "052eeebcb8e7e072beea5031b227d9a290f8a7fbbb947573ab6ec81df0fb94be"
 dependencies = [
  "parking_lot",
  "proc-macro2",
  "quote",
- "syn",
- "toml_edit",
+ "syn 2.0.101",
+ "toml_edit 0.22.25",
 ]
 
 [[package]]
 name = "bevy_math"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1a3a926d02dc501c6156a047510bdb538dcb1fa744eeba13c824b73ba88de55"
+checksum = "68553e0090fe9c3ba066c65629f636bd58e4ebd9444fdba097b91af6cd3e243f"
 dependencies = [
  "approx",
  "bevy_reflect",
@@ -985,9 +1060,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_mesh"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12af58280c7453e32e2f083d86eaa4c9b9d03ea8683977108ded8f1930c539f2"
+checksum = "b10399c7027001edbc0406d7d0198596b1f07206c1aae715274106ba5bdcac40"
 dependencies = [
  "bevy_asset",
  "bevy_derive",
@@ -1010,9 +1085,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_mikktspace"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75e0258423c689f764556e36b5d9eebdbf624b29a1fd5b33cd9f6c42dcc4d5f3"
+checksum = "8bb60c753b968a2de0fd279b76a3d19517695e771edb4c23575c7f92156315de"
 dependencies = [
  "glam",
 ]
@@ -1029,9 +1104,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_pbr"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9fe0de43b68bf9e5090a33efc963f125e9d3f9d97be9ebece7bcfdde1b6da80"
+checksum = "d5e0b4eb871f364a0d217f70f6c41d7fdc6f9f931fa1abbf222180c03d0ae410"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -1086,9 +1161,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_platform"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "704db2c11b7bc31093df4fbbdd3769f9606a6a5287149f4b51f2680f25834ebc"
+checksum = "f7573dc824a1b08b4c93fdbe421c53e1e8188e9ca1dd74a414455fe571facb47"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -1104,15 +1179,15 @@ dependencies = [
 
 [[package]]
 name = "bevy_ptr"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86f1275dfb4cfef4ffc90c3fa75408964864facf833acc932413d52aa5364ba4"
+checksum = "df7370d0e46b60e071917711d0860721f5347bc958bf325975ae6913a5dfcf01"
 
 [[package]]
 name = "bevy_reflect"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "607ebacc31029cf2f39ac330eabf1d4bc411b159528ec08dbe6b0593eaccfd41"
+checksum = "daeb91a63a1a4df00aa58da8cc4ddbd4b9f16ab8bb647c5553eb156ce36fa8c2"
 dependencies = [
  "assert_type_match",
  "bevy_platform",
@@ -1136,22 +1211,22 @@ dependencies = [
 
 [[package]]
 name = "bevy_reflect_derive"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf35e45e4eb239018369f63f2adc2107a54c329f9276d020e01eee1625b0238b"
+checksum = "40ddadc55fe16b45faaa54ab2f9cb00548013c74812e8b018aa172387103cce6"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
  "uuid",
 ]
 
 [[package]]
 name = "bevy_render"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "85a7306235b3343b032801504f3e884b93abfb7ba58179fc555c479df509f349"
+checksum = "ef91fed1f09405769214b99ebe4390d69c1af5cdd27967deae9135c550eb1667"
 dependencies = [
  "async-channel",
  "bevy_app",
@@ -1201,21 +1276,21 @@ dependencies = [
 
 [[package]]
 name = "bevy_render_macros"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b85c4fb26b66d3a257b655485d11b9b6df9d3c85026493ba8092767a5edfc1b2"
+checksum = "abd42cf6c875bcf38da859f8e731e119a6aff190d41dd0a1b6000ad57cf2ed3d"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
 name = "bevy_scene"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e7b628f560f2d2fe9f35ecd4526627ba3992f082de03fd745536e4053a0266fe"
+checksum = "5c52ca165200995fe8afd2a1a6c03e4ffee49198a1d4653d32240ea7f217d4ab"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -1234,9 +1309,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_sprite"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "01f97bf54fb1c37a1077139b59bb32bc77f7ca53149cfcaa512adbb69a2d492c"
+checksum = "6ccae7bab2cb956fb0434004c359e432a3a1a074a6ef4eb471f1fb099f0b620b"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -1262,9 +1337,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_state"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "682c343c354b191fe6669823bce3b0695ee1ae4ac36f582e29c436a72b67cdd5"
+checksum = "155d3cd97b900539008cdcaa702f88b724d94b08977b8e591a32536ce66faa8c"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -1278,21 +1353,21 @@ dependencies = [
 
 [[package]]
 name = "bevy_state_macros"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "55b4bf3970c4f0e60572901df4641656722172c222d71a80c430d36b0e31426c"
+checksum = "2481c1304fd2a1851a0d4cb63a1ce6421ae40f3f0117cbc9882963ee4c9bb609"
 dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
 name = "bevy_tasks"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "444c450b65e108855f42ecb6db0c041a56ea7d7f10cc6222f0ca95e9536a7d19"
+checksum = "5b674242641cab680688fc3b850243b351c1af49d4f3417a576debd6cca8dcf5"
 dependencies = [
  "async-channel",
  "async-executor",
@@ -1312,9 +1387,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_text"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8ef071262c5a9afbc39caba4c0b282c7d045fbb5cf33bdab1924bd2343403833"
+checksum = "1d76c85366159f5f54110f33321c76d8429cfd8f39638f26793a305dae568b60"
 dependencies = [
  "bevy_app",
  "bevy_asset",
@@ -1342,9 +1417,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_time"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "456369ca10f8e039aaf273332744674844827854833ee29e28f9e161702f2f55"
+checksum = "bc98eb356c75be04fbbc77bb3d8ffa24c8bacd99f76111cee23d444be6ac8c9c"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -1357,9 +1432,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_transform"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8479cdd5461246943956a7c8347e4e5d6ff857e57add889fb50eee0b5c26ab48"
+checksum = "df218e440bb9a19058e1b80a68a031c887bcf7bd3a145b55f361359a2fa3100d"
 dependencies = [
  "bevy_app",
  "bevy_ecs",
@@ -1375,9 +1450,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_ui"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "110dc5d0059f112263512be8cd7bfe0466dfb7c26b9bf4c74529355249fd23f9"
+checksum = "ea4a4d2ba51865bc3039af29a26b4f52c48b54cc758369f52004caf4b6f03770"
 dependencies = [
  "accesskit",
  "bevy_a11y",
@@ -1401,6 +1476,7 @@ dependencies = [
  "bytemuck",
  "derive_more",
  "nonmax",
+ "serde",
  "smallvec",
  "taffy",
  "thiserror 2.0.12",
@@ -1409,9 +1485,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_utils"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ac2da3b3c1f94dadefcbe837aaa4aa119fcea37f7bdc5307eb05b4ede1921e24"
+checksum = "94f7a8905a125d2017e8561beefb7f2f5e67e93ff6324f072ad87c5fd6ec3b99"
 dependencies = [
  "bevy_platform",
  "thread_local",
@@ -1419,9 +1495,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_window"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0d83327cc5584da463d12b7a88ddb97f9e006828832287e1564531171fffdeb4"
+checksum = "df7e8ad0c17c3cc23ff5566ae2905c255e6986037fb041f74c446216f5c38431"
 dependencies = [
  "android-activity",
  "bevy_app",
@@ -1439,9 +1515,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_winit"
-version = "0.16.0"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57b14928923ae4274f4b867dce3d0e7b2c8a31bebcb0f6e65a4261c3e0765064"
+checksum = "6a5e7f00c6b3b6823df5ec2a5e9067273607208919bc8c211773ebb9643c87f0"
 dependencies = [
  "accesskit",
  "accesskit_winit",
@@ -1462,6 +1538,7 @@ dependencies = [
  "cfg-if",
  "crossbeam-channel",
  "raw-window-handle",
+ "serde",
  "tracing",
  "wasm-bindgen",
  "web-sys",
@@ -1495,13 +1572,15 @@ dependencies = [
 
 [[package]]
 name = "bevy_zeroverse"
-version = "0.13.3"
+version = "0.14.0"
 dependencies = [
  "bevy",
  "bevy-inspector-egui",
  "bevy_args",
  "bevy_egui",
+ "bevy_gaussian_splatting",
  "bevy_panorbit_camera",
+ "bytemuck",
  "clap",
  "console_error_panic_hook",
  "criterion",
@@ -1556,7 +1635,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -1635,6 +1714,15 @@ version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0d8c1fef690941d3e7788d328517591fecc684c084084702d6ff1641e993699a"
 
+[[package]]
+name = "block-buffer"
+version = "0.10.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
+
 [[package]]
 name = "block2"
 version = "0.5.1"
@@ -1669,11 +1757,17 @@ version = "3.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1628fb46dfa0b37568d12e5edd512553eccf6a22a78e8bde00bb4aed84d5bdbf"
 
+[[package]]
+name = "bytecount"
+version = "0.6.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "175812e0be2bccb6abe50bb8d566126198344f707e304f45c648fd8f2cc0365e"
+
 [[package]]
 name = "bytemuck"
-version = "1.22.0"
+version = "1.23.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6b1fc10dbac614ebc03540c9dbd60e83887fda27794998c6528f1782047d540"
+checksum = "5c76a5792e44e4abe34d3abf15636779261d45a7450612059293d1d2cfc63422"
 dependencies = [
  "bytemuck_derive",
 ]
@@ -1686,7 +1780,7 @@ checksum = "7ecc273b49b3205b83d648f0690daa588925572cc5063745bfe547fe7ec8e1a1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -1716,7 +1810,7 @@ dependencies = [
  "bitflags 2.9.0",
  "log",
  "polling",
- "rustix",
+ "rustix 0.38.44",
  "slab",
  "thiserror 1.0.69",
 ]
@@ -1728,11 +1822,42 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "95a66a987056935f7efce4ab5668920b5d0dac4a7c99991a67395f13702ddd20"
 dependencies = [
  "calloop",
- "rustix",
+ "rustix 0.38.44",
  "wayland-backend",
  "wayland-client",
 ]
 
+[[package]]
+name = "camino"
+version = "1.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0da45bc31171d8d6960122e222a67740df867c1dd53b4d51caa297084c185cab"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "cargo-platform"
+version = "0.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e35af189006b9c0f00a064685c727031e3ed2d8020f7ba284d78cc2671bd36ea"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "cargo_metadata"
+version = "0.14.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4acbb09d9ee8e23699b9634375c72795d095bf268439da88562cf9b501f181fa"
+dependencies = [
+ "camino",
+ "cargo-platform",
+ "semver",
+ "serde",
+ "serde_json",
+]
+
 [[package]]
 name = "cast"
 version = "0.3.0"
@@ -1865,7 +1990,7 @@ dependencies = [
  "heck",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -1968,6 +2093,15 @@ dependencies = [
  "const_soft_float",
 ]
 
+[[package]]
+name = "convert_case"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baaaa0ecca5b51987b9423ccdc971514dd8b0bb7b4060b983d3664dad3f1f89f"
+dependencies = [
+ "unicode-segmentation",
+]
+
 [[package]]
 name = "core-foundation"
 version = "0.9.4"
@@ -2041,6 +2175,15 @@ dependencies = [
  "unicode-segmentation",
 ]
 
+[[package]]
+name = "cpufeatures"
+version = "0.2.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "59ed5838eebb26a2bb2e58f6d5b5316989ae9d08bab10e0e6d103e656d1b0280"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "crc32fast"
 version = "1.4.2"
@@ -2052,25 +2195,22 @@ dependencies = [
 
 [[package]]
 name = "criterion"
-version = "0.5.1"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2b12d017a929603d80db1831cd3a24082f8137ce19c69e6447f54f5fc8d692f"
+checksum = "3bf7af66b0989381bd0be551bd7cc91912a655a58c6918420c9527b1fd8b4679"
 dependencies = [
  "anes",
  "cast",
  "ciborium",
  "clap",
  "criterion-plot",
- "is-terminal",
- "itertools 0.10.5",
+ "itertools 0.13.0",
  "num-traits",
- "once_cell",
  "oorandom",
  "plotters",
  "rayon",
  "regex",
  "serde",
- "serde_derive",
  "serde_json",
  "tinytemplate",
  "walkdir",
@@ -2141,6 +2281,16 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43da5946c66ffcc7745f48db692ffbb10a83bfe0afd96235c5c2a4fb23994929"
 
+[[package]]
+name = "crypto-common"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1bfb12502f3fc46cca1bb51ac28df9d618d813cdc3d2f25b9fe775a34af26bb3"
+dependencies = [
+ "generic-array",
+ "typenum",
+]
+
 [[package]]
 name = "ctrlc"
 version = "3.4.6"
@@ -2180,10 +2330,20 @@ checksum = "cb7330aeadfbe296029522e6c40f315320aba36fc43a5b3632f3795348f3bd22"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
  "unicode-xid",
 ]
 
+[[package]]
+name = "digest"
+version = "0.10.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292"
+dependencies = [
+ "block-buffer",
+ "crypto-common",
+]
+
 [[package]]
 name = "dispatch"
 version = "0.2.0"
@@ -2208,7 +2368,7 @@ checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -2321,7 +2481,18 @@ checksum = "f97b51c5cc57ef7c5f7a0c57c250251c49ee4c28f819f87ac32f4aceabc36792"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
+]
+
+[[package]]
+name = "enumn"
+version = "0.1.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f9ed6b3789237c8a0c1c505af1c7eb2c560df6186f01b098c3a1064ea532f38"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -2373,6 +2544,15 @@ dependencies = [
  "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "error-chain"
+version = "0.12.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2d2f06b9cac1506ece98fe3231e3cc9c4410ec3d5b1f24ae1c8946f0742cdefc"
+dependencies = [
+ "version_check",
+]
+
 [[package]]
 name = "error-code"
 version = "3.3.1"
@@ -2455,6 +2635,19 @@ dependencies = [
  "miniz_oxide",
 ]
 
+[[package]]
+name = "flexbuffers"
+version = "25.2.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "935627e7bc8f083035d9faad09ffaed9128f73fb1f74a8798f115749c43378e8"
+dependencies = [
+ "bitflags 1.3.2",
+ "byteorder",
+ "num_enum 0.5.11",
+ "serde",
+ "serde_derive",
+]
+
 [[package]]
 name = "foldhash"
 version = "0.1.5"
@@ -2511,7 +2704,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -2583,6 +2776,16 @@ dependencies = [
  "thread_local",
 ]
 
+[[package]]
+name = "generic-array"
+version = "0.14.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
+dependencies = [
+ "typenum",
+ "version_check",
+]
+
 [[package]]
 name = "gethostname"
 version = "0.4.3"
@@ -2690,7 +2893,7 @@ dependencies = [
  "inflections",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -2789,6 +2992,7 @@ checksum = "459196ed295495a68f7d7fe1d84f6c4b7ff0e21fe3017b2f283c6fac3ad803c9"
 dependencies = [
  "cfg-if",
  "crunchy",
+ "serde",
 ]
 
 [[package]]
@@ -2834,12 +3038,6 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
 
-[[package]]
-name = "hermit-abi"
-version = "0.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fbd780fe5cc30f81464441920d82ac8740e2e46b29a6fad543ddd075229ce37e"
-
 [[package]]
 name = "hexasphere"
 version = "15.1.0"
@@ -2981,7 +3179,7 @@ checksum = "1ec89e9337638ecdc08744df490b221a7399bf8d164eb52a665454e60e075ad6"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -3084,18 +3282,7 @@ checksum = "c34819042dc3d3971c46c2190835914dfbe0c3c13f61449b2997f4e9722dfa60"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
-]
-
-[[package]]
-name = "is-terminal"
-version = "0.4.16"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e04d7f318608d35d4b61ddd75cbdaee86b023ebe2bd5a66ee0915f0bf93095a9"
-dependencies = [
- "hermit-abi 0.5.0",
- "libc",
- "windows-sys 0.59.0",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -3275,12 +3462,24 @@ dependencies = [
  "redox_syscall 0.5.11",
 ]
 
+[[package]]
+name = "linked-hash-map"
+version = "0.5.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0717cef1bc8b636c6e1c1bbdefc09e6322da8a9321966e8928ef80d20f7f770f"
+
 [[package]]
 name = "linux-raw-sys"
 version = "0.4.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d26c52dbd32dccf2d10cac7725f8eae5296885fb5703b261f7d0a0739ec807ab"
 
+[[package]]
+name = "linux-raw-sys"
+version = "0.9.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cd945864f07fe9f5371a27ad7b52a172b4b499999f1d97574c9fa68373937e12"
+
 [[package]]
 name = "litemap"
 version = "0.7.5"
@@ -3481,7 +3680,7 @@ dependencies = [
  "jni-sys",
  "log",
  "ndk-sys 0.6.0+11769913",
- "num_enum",
+ "num_enum 0.7.3",
  "raw-window-handle",
  "thiserror 1.0.69",
 ]
@@ -3604,7 +3803,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -3637,13 +3836,34 @@ dependencies = [
  "libm",
 ]
 
+[[package]]
+name = "num_enum"
+version = "0.5.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1f646caf906c20226733ed5b1374287eb97e3c2a5c227ce668c1f2ce20ae57c9"
+dependencies = [
+ "num_enum_derive 0.5.11",
+]
+
 [[package]]
 name = "num_enum"
 version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
 dependencies = [
- "num_enum_derive",
+ "num_enum_derive 0.7.3",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.5.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dcbff9bc912032c62bf65ef1d5aea88983b420f4f839db1e9b0c281a25c9c799"
+dependencies = [
+ "proc-macro-crate 1.3.1",
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -3652,10 +3872,10 @@ version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
 dependencies = [
- "proc-macro-crate",
+ "proc-macro-crate 3.3.0",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4027,6 +4247,33 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
+[[package]]
+name = "peg"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9f76678828272f177ac33b7e2ac2e3e73cc6c1cd1e3e387928aa69562fa51367"
+dependencies = [
+ "peg-macros",
+ "peg-runtime",
+]
+
+[[package]]
+name = "peg-macros"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "636d60acf97633e48d266d7415a9355d4389cea327a193f87df395d88cd2b14d"
+dependencies = [
+ "peg-runtime",
+ "proc-macro2",
+ "quote",
+]
+
+[[package]]
+name = "peg-runtime"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9555b1514d2d99d78150d3c799d4c357a3e2c2a8062cd108e93a06d9057629c5"
+
 [[package]]
 name = "percent-encoding"
 version = "2.3.1"
@@ -4050,7 +4297,7 @@ checksum = "6e918e4ff8c4549eb882f14b3a4bc8c8bc93de829416eacf579f1207a8fbf861"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4104,6 +4351,18 @@ dependencies = [
  "plotters-backend",
 ]
 
+[[package]]
+name = "ply-rs"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dbadf9cb4a79d516de4c64806fe64ffbd8161d1ac685d000be789fb628b88963"
+dependencies = [
+ "byteorder",
+ "linked-hash-map",
+ "peg",
+ "skeptic",
+]
+
 [[package]]
 name = "png"
 version = "0.17.16"
@@ -4125,9 +4384,9 @@ checksum = "a604568c3202727d1507653cb121dbd627a58684eb09a820fd746bee38b4442f"
 dependencies = [
  "cfg-if",
  "concurrent-queue",
- "hermit-abi 0.4.0",
+ "hermit-abi",
  "pin-project-lite",
- "rustix",
+ "rustix 0.38.44",
  "tracing",
  "windows-sys 0.59.0",
 ]
@@ -4184,7 +4443,17 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "664ec5419c51e34154eec046ebcba56312d5a2fc3b09a06da188e1ad21afadf6"
 dependencies = [
  "proc-macro2",
- "syn",
+ "syn 2.0.101",
+]
+
+[[package]]
+name = "proc-macro-crate"
+version = "1.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f4c021e1093a56626774e81216a4ce732a735e5bad4868a03f3ed65ca0c3919"
+dependencies = [
+ "once_cell",
+ "toml_edit 0.19.15",
 ]
 
 [[package]]
@@ -4193,7 +4462,7 @@ version = "3.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "edce586971a4dfaa28950c6f18ed55e0406c1ab88bbce2c6f6293a7aaba73d35"
 dependencies = [
- "toml_edit",
+ "toml_edit 0.22.25",
 ]
 
 [[package]]
@@ -4221,7 +4490,18 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a65f2e60fbf1063868558d69c6beacf412dc755f9fc020f514b7955fc914fe30"
 dependencies = [
  "quote",
- "syn",
+ "syn 2.0.101",
+]
+
+[[package]]
+name = "pulldown-cmark"
+version = "0.9.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "57206b407293d2bcd3af849ce869d52068623f19e1b5ff8e8778e3309439682b"
+dependencies = [
+ "bitflags 2.9.0",
+ "memchr",
+ "unicase",
 ]
 
 [[package]]
@@ -4282,7 +4562,7 @@ dependencies = [
  "proc-macro2",
  "pyo3-macros-backend",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4295,7 +4575,7 @@ dependencies = [
  "proc-macro2",
  "pyo3-build-config",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4609,7 +4889,20 @@ dependencies = [
  "bitflags 2.9.0",
  "errno",
  "libc",
- "linux-raw-sys",
+ "linux-raw-sys 0.4.15",
+ "windows-sys 0.59.0",
+]
+
+[[package]]
+name = "rustix"
+version = "1.0.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11181fbabf243db407ef8df94a6ce0b2f9a733bd8be4ad02b4eda9602296cac8"
+dependencies = [
+ "bitflags 2.9.0",
+ "errno",
+ "libc",
+ "linux-raw-sys 0.9.4",
  "windows-sys 0.59.0",
 ]
 
@@ -4701,6 +4994,15 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0f7d95a54511e0c7be3f51e8867aa8cf35148d7b9445d44de2f943e2b206e749"
 
+[[package]]
+name = "semver"
+version = "1.0.26"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56e6fa9c48d24d85fb3de5ad847117517440f6beceb7798af16b4a87d616b8d0"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "send_wrapper"
 version = "0.6.0"
@@ -4724,7 +5026,7 @@ checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4748,6 +5050,17 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "sha1"
+version = "0.10.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3bf829a2d51ab4a5ddf1352d8470c140cadc8301b2ae1789db023f01cedd6ba"
+dependencies = [
+ "cfg-if",
+ "cpufeatures",
+ "digest",
+]
+
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -4778,6 +5091,21 @@ dependencies = [
  "quote",
 ]
 
+[[package]]
+name = "skeptic"
+version = "0.13.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "16d23b015676c90a0f01c197bfdc786c20342c73a0afdda9025adb0bc42940a8"
+dependencies = [
+ "bytecount",
+ "cargo_metadata",
+ "error-chain",
+ "glob",
+ "pulldown-cmark",
+ "tempfile",
+ "walkdir",
+]
+
 [[package]]
 name = "skrifa"
 version = "0.26.6"
@@ -4811,6 +5139,9 @@ name = "smallvec"
 version = "1.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8917285742e9f3e1683f0a9c4e6b57960b7314d0b08d30d1ecd426713ee2eee9"
+dependencies = [
+ "serde",
+]
 
 [[package]]
 name = "smithay-client-toolkit"
@@ -4825,7 +5156,7 @@ dependencies = [
  "libc",
  "log",
  "memmap2",
- "rustix",
+ "rustix 0.38.44",
  "thiserror 1.0.69",
  "wayland-backend",
  "wayland-client",
@@ -4919,7 +5250,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustversion",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4932,7 +5263,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustversion",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -4952,6 +5283,17 @@ dependencies = [
  "zeno",
 ]
 
+[[package]]
+name = "syn"
+version = "1.0.109"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
 [[package]]
 name = "syn"
 version = "2.0.101"
@@ -4971,7 +5313,7 @@ checksum = "c8af7666ab7b6390ab78131fb5b0fce11d6b7a6951602017c35fa82800708971"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -5014,6 +5356,19 @@ version = "0.12.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "61c41af27dd6d1e27b1b16b489db798443478cef1f06a660c96db617ba5de3b1"
 
+[[package]]
+name = "tempfile"
+version = "3.20.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8a64e3985349f2441a1a9ef0b853f869006c3855f2cda6862a94d26ebb9d6a1"
+dependencies = [
+ "fastrand",
+ "getrandom 0.3.2",
+ "once_cell",
+ "rustix 1.0.8",
+ "windows-sys 0.59.0",
+]
+
 [[package]]
 name = "termcolor"
 version = "1.4.1"
@@ -5049,7 +5404,7 @@ checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -5060,7 +5415,7 @@ checksum = "7f7cf42b4507d8ea322120659672cf1b9dbb93f8f2d4ecfd6e51350ff5b17a1d"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -5153,7 +5508,7 @@ dependencies = [
  "serde",
  "serde_spanned",
  "toml_datetime",
- "toml_edit",
+ "toml_edit 0.22.25",
 ]
 
 [[package]]
@@ -5165,6 +5520,17 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "toml_edit"
+version = "0.19.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b5bb770da30e5cbfde35a2d7b9b8a2c4b8ef89548a7a6aeab5c9a576e3e7421"
+dependencies = [
+ "indexmap",
+ "toml_datetime",
+ "winnow 0.5.40",
+]
+
 [[package]]
 name = "toml_edit"
 version = "0.22.25"
@@ -5175,7 +5541,7 @@ dependencies = [
  "serde",
  "serde_spanned",
  "toml_datetime",
- "winnow",
+ "winnow 0.7.7",
 ]
 
 [[package]]
@@ -5197,7 +5563,7 @@ checksum = "395ae124c09f9e6918a2310af6038fba074bcf474ac352496d5910dd59a2226d"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -5295,6 +5661,18 @@ version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc7d623258602320d5c55d1bc22793b57daff0ec7efc270ea7d55ce1d5f5471c"
 
+[[package]]
+name = "typenum"
+version = "1.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1dccffe3ce07af9386bfd29e80c0ab1a8205a2fc34e4bcd40364df902cfa8f3f"
+
+[[package]]
+name = "unicase"
+version = "2.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b844d17643ee918803943289730bec8aac480150456169e647ed0b576ba539"
+
 [[package]]
 name = "unicode-bidi"
 version = "0.3.18"
@@ -5427,7 +5805,7 @@ checksum = "41b6d82be61465f97d42bd1d15bf20f3b0a3a0905018f38f9d6f6962055b0b5c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -5489,7 +5867,7 @@ dependencies = [
  "log",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
  "wasm-bindgen-shared",
 ]
 
@@ -5524,7 +5902,7 @@ checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -5546,7 +5924,7 @@ checksum = "b7208998eaa3870dad37ec8836979581506e0c5c64c20c9e79e9d2a10d6f47bf"
 dependencies = [
  "cc",
  "downcast-rs 1.2.1",
- "rustix",
+ "rustix 0.38.44",
  "scoped-tls",
  "smallvec",
  "wayland-sys",
@@ -5559,7 +5937,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c2120de3d33638aaef5b9f4472bff75f07c56379cf76ea320bd3a3d65ecaf73f"
 dependencies = [
  "bitflags 2.9.0",
- "rustix",
+ "rustix 0.38.44",
  "wayland-backend",
  "wayland-scanner",
 ]
@@ -5581,7 +5959,7 @@ version = "0.31.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a93029cbb6650748881a00e4922b076092a6a08c11e7fbdb923f064b23968c5d"
 dependencies = [
- "rustix",
+ "rustix 0.38.44",
  "wayland-client",
  "xcursor",
 ]
@@ -5862,7 +6240,7 @@ checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -5873,7 +6251,7 @@ checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -6132,7 +6510,7 @@ dependencies = [
  "pin-project",
  "raw-window-handle",
  "redox_syscall 0.4.1",
- "rustix",
+ "rustix 0.38.44",
  "sctk-adwaita",
  "smithay-client-toolkit",
  "smol_str",
@@ -6152,6 +6530,15 @@ dependencies = [
  "xkbcommon-dl",
 ]
 
+[[package]]
+name = "winnow"
+version = "0.5.40"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f593a95398737aeed53e489c785df13f3618e41dbcd6718c6addbf1395aa6876"
+dependencies = [
+ "memchr",
+]
+
 [[package]]
 name = "winnow"
 version = "0.7.7"
@@ -6204,7 +6591,7 @@ dependencies = [
  "libc",
  "libloading",
  "once_cell",
- "rustix",
+ "rustix 0.38.44",
  "x11rb-protocol",
 ]
 
@@ -6271,7 +6658,7 @@ checksum = "2380878cad4ac9aac1e2435f3eb4020e8374b5f13c296cb75b4620ff8e229154"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
  "synstructure",
 ]
 
@@ -6307,7 +6694,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -6318,7 +6705,7 @@ checksum = "28a6e20d751156648aa063f3800b706ee209a32c0b4d9f24be3d980b01be55ef"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
@@ -6338,7 +6725,7 @@ checksum = "d71e5d6e06ab090c67b5e44993ec16b72dcbaabc526db883a360057678b48502"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
  "synstructure",
 ]
 
@@ -6361,7 +6748,7 @@ checksum = "6eafa6dfb17584ea3e2bd6e76e0cc15ad7af12b09abdd1ca55961bed9b1063c6"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.101",
 ]
 
 [[package]]
diff --git a/Cargo.toml b/Cargo.toml
index 5aeef2e..d992553 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,7 +1,7 @@
 [package]
 name = "bevy_zeroverse"
 description = "bevy zeroverse synthetic dataset generator"
-version = "0.13.3"
+version = "0.14.0"
 edition = "2021"
 authors = ["mosure <mitchell@mosure.me>"]
 license = "MIT"
@@ -48,6 +48,7 @@ default = [
 
 multi_threaded = [
   "bevy/multi_threaded",
+  "rayon",
 ]
 
 development = ["bevy/dynamic_linking"]
@@ -60,12 +61,14 @@ python = ["extension-module", "pyo3", "webgpu"]
 
 viewer = [
   "bevy_egui",
+  "bevy_gaussian_splatting",
   "bevy-inspector-egui",
   "bevy_panorbit_camera",
   "bevy/bevy_ui",
 ]
 
 web = [
+  "rayon",
   "viewer",
   "webgpu",
 ]
@@ -79,8 +82,10 @@ webgpu = [
 [dependencies]
 bevy_args = "1.8"
 bevy_egui = { version = "0.34", optional = true }
+bevy_gaussian_splatting = { version = "5.0", default-features = false, features = ["buffer_storage", "sh3", "io_flexbuffers", "io_ply", "planar", "sort_rayon"], optional = true }
 bevy-inspector-egui = { version = "0.31", optional = true }
 bevy_panorbit_camera = { version = "0.26", optional = true, features = ["bevy_egui"] }
+bytemuck = { version = "1.23", features = ["derive"] }
 clap = { version = "4.5", features = ["derive"] }
 futures-intrusive = "0.5"
 glob = "0.3"
@@ -88,7 +93,7 @@ itertools = "0.14"
 noise = { version = "0.9" }
 pollster = "0.4"
 pyo3 = { version = "0.23", features = ["macros"], optional = true }
-rand = "0.8"
+rand = { version = "0.8", features = ["small_rng"] }
 rayon = { version = "1.10", optional = true }
 serde = "1.0"
 strum = "0.27"
@@ -133,8 +138,7 @@ features = [
 
 
 [dev-dependencies]
-criterion = { version = "0.5", features = ["html_reports"] }
-futures-intrusive = { version = "0.5.0" }
+criterion = { version = "0.6", features = ["html_reports"] }
 pollster = { version = "0.4" }
 
 [profile.dev.package."*"]
diff --git a/ffi/python/bevy_zeroverse_dataloader/__init__.py b/ffi/python/bevy_zeroverse_dataloader/__init__.py
index 5a03f8f..7591136 100644
--- a/ffi/python/bevy_zeroverse_dataloader/__init__.py
+++ b/ffi/python/bevy_zeroverse_dataloader/__init__.py
@@ -214,6 +214,7 @@ class BevyZeroverseDataset(Dataset):
         'normal': bevy_zeroverse_ffi.RenderMode.Normal,
         'optical_flow': bevy_zeroverse_ffi.RenderMode.OpticalFlow,
         'position': bevy_zeroverse_ffi.RenderMode.Position,
+        'sdf': bevy_zeroverse_ffi.RenderMode.Sdf,
         'semantic': bevy_zeroverse_ffi.RenderMode.Semantic,
     }
 
diff --git a/ffi/src/lib.rs b/ffi/src/lib.rs
index 7b43434..1fe35f6 100644
--- a/ffi/src/lib.rs
+++ b/ffi/src/lib.rs
@@ -167,6 +167,7 @@ impl Default for SamplerState {
                 // RenderMode::Normal,
                 // RenderMode::OpticalFlow,
                 // RenderMode::Position,
+                // RenderMode::Sdf,
             ],
             step: 0,
             timesteps: vec![0.125],
@@ -406,6 +407,7 @@ fn sample_stream(
             RenderMode::Normal => view.normal = image_data,
             RenderMode::OpticalFlow => view.optical_flow = image_data,
             RenderMode::Position => view.position = image_data,
+            RenderMode::Sdf => panic!("sdf rendering not supported"),
             RenderMode::Semantic => panic!("semantic rendering not supported"),
         }
     }
diff --git a/src/camera.rs b/src/camera.rs
index ff0cdef..01ab4f1 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -39,6 +39,7 @@ use bevy_args::{
     Serialize,
     ValueEnum,
 };
+use bevy_gaussian_splatting::GaussianCamera;
 use rand::Rng;
 
 #[cfg(feature = "python")]
@@ -814,6 +815,9 @@ fn insert_cameras(
                     ..default()
                 },
                 Exposure::INDOOR,
+                GaussianCamera {
+                    warmup: true,
+                },
                 Projection::Perspective(zeroverse_camera.perspective_sampler.sample()),
                 zeroverse_camera.override_transform.unwrap_or(zeroverse_camera.trajectory.sample(0.0)),
                 MotionVectorPrepass,
@@ -986,6 +990,9 @@ fn setup_editor_camera(
                     hdr: true,
                     ..default()
                 },
+                GaussianCamera {
+                    warmup: true,
+                },
                 Projection::Perspective(PerspectiveProjection {
                     far: 25.0,
                     ..default()
diff --git a/src/render/mod.rs b/src/render/mod.rs
index 641f576..89720fd 100644
--- a/src/render/mod.rs
+++ b/src/render/mod.rs
@@ -24,9 +24,11 @@ pub mod depth;
 pub mod normal;
 pub mod optical_flow;
 pub mod position;
+pub mod sdf;
 pub mod semantic;
 
 
+// TODO: render mode should be a per-camera setting
 #[derive(
     Debug,
     Default,
@@ -48,6 +50,7 @@ pub enum RenderMode {
     Normal,
     OpticalFlow,
     Position,
+    Sdf,
     Semantic,
 }
 
@@ -94,6 +97,7 @@ impl Plugin for RenderPlugin {
         app.add_plugins(normal::NormalPlugin);
         app.add_plugins(optical_flow::OpticalFlowPlugin);
         app.add_plugins(position::PositionPlugin);
+        app.add_plugins(sdf::SdfPlugin);
         app.add_plugins(semantic::SemanticPlugin);
 
         // TODO: add wireframe depth, pbr disable, normals
@@ -108,6 +112,7 @@ impl Plugin for RenderPlugin {
                     auto_disable_pbr_material::<normal::Normal>,
                     auto_disable_pbr_material::<optical_flow::OpticalFlow>,
                     auto_disable_pbr_material::<position::Position>,
+                    auto_disable_pbr_material::<sdf::Sdf>,
                     auto_disable_pbr_material::<semantic::Semantic>,
                     enable_pbr_material,
                 )
@@ -206,6 +211,10 @@ fn apply_render_modes(
                 commands.entity(entity)
                     .insert(position::Position);
             }
+            RenderMode::Sdf => {
+                commands.entity(entity)
+                    .insert(sdf::Sdf);
+            }
             RenderMode::Semantic => {
                 commands.entity(entity)
                     .insert(semantic::Semantic);
@@ -221,6 +230,7 @@ fn apply_render_modes(
                 .remove::<normal::Normal>()
                 .remove::<optical_flow::OpticalFlow>()
                 .remove::<position::Position>()
+                .remove::<sdf::Sdf>()
                 .remove::<semantic::Semantic>();
 
             insert_render_mode_flag(&mut commands, entity);
diff --git a/src/render/sdf.rs b/src/render/sdf.rs
new file mode 100644
index 0000000..53d31d1
--- /dev/null
+++ b/src/render/sdf.rs
@@ -0,0 +1,682 @@
+use std::collections::HashSet;
+
+use bevy::{
+    prelude::*,
+    // asset::{load_internal_asset, weak_handle},
+    pbr::{ExtendedMaterial, MaterialExtension},
+    render::{
+        mesh::{
+            Indices,
+            Mesh,
+            VertexAttributeValues,
+        },
+        // render_asset::RenderAssetUsages,
+        render_resource::*,
+        // storage::ShaderStorageBuffer,
+    },
+};
+use bevy_gaussian_splatting::{
+    CloudSettings,
+    Gaussian3d,
+    GaussianSplattingPlugin,
+    gaussian::f32::{
+        PositionVisibility,
+        ScaleOpacity,
+    },
+    material::spherical_harmonics::SH_COEFF_COUNT,
+    PlanarGaussian3d,
+    PlanarGaussian3dHandle,
+    SphericalHarmonicCoefficients,
+};
+use bytemuck::{
+    Pod,
+    Zeroable,
+};
+use rand::{
+    prelude::{Rng, SliceRandom, thread_rng},
+    rngs::SmallRng,
+    SeedableRng,
+};
+
+use rayon::prelude::*;
+
+
+
+#[derive(Component, Clone, Debug, Default, Reflect)]
+#[reflect(Component, Default)]
+pub struct SdfRoot;
+
+
+#[derive(Resource, Reflect, Debug, Clone)]
+#[reflect(Resource, Default)]
+pub struct SdfConfig {
+    pub per_m2: f32,
+    pub band: f32,
+    pub jitter: f32,
+    pub min_pts: u32,
+    pub max_pts: u32,
+    pub near_z: f32,
+    pub far_z: f32,
+}
+
+impl Default for SdfConfig {
+    fn default() -> Self {
+        Self {
+            per_m2: 10.0,
+            band: 0.01,
+            jitter: 0.05,
+            min_pts: 256,
+            max_pts: 1024,
+            near_z: 0.1,
+            far_z: 25.0,
+        }
+    }
+}
+
+
+#[derive(Clone, Copy, Debug, Default, Reflect, ShaderType, Pod, Zeroable)]
+#[repr(C)]
+struct GpuPt {
+    pos_dist: Vec4,
+}
+
+#[derive(Clone, Copy, Debug, Default, Reflect, ShaderType, Pod, Zeroable)]
+#[repr(C)]
+struct LodParams {
+    counts: UVec4,
+    range: Vec4,
+}
+
+// #[derive(Clone, Copy, Debug, Default, Reflect, ShaderType, Pod, Zeroable)]
+// #[repr(C)]
+// pub struct KdNodeGpu {
+//     min_split: Vec4,
+//     max_pad: Vec4,
+//     axis: u32,
+//     left: u32,
+//     right: u32,
+//     _pad: u32,
+// }
+
+// #[derive(Resource, Default, Clone)]
+// pub struct SdfBuffers {
+//     pub pts: Handle<ShaderStorageBuffer>,
+//     pub kd: Handle<ShaderStorageBuffer>,
+// }
+
+
+// pub const SDF_SHADER_HANDLE: Handle<Shader> = weak_handle!("01b0a4af-31b4-4a71-a6bc-045e8778e6d4");
+
+pub type SdfMaterial = ExtendedMaterial<StandardMaterial, SdfExtension>;
+
+
+#[derive(Asset, AsBindGroup, TypePath, Debug, Clone)]
+pub struct SdfExtension {
+//     #[storage(14, read_only)] pts: Handle<ShaderStorageBuffer>,
+//     #[storage(15, read_only)] kd: Handle<ShaderStorageBuffer>,
+    #[uniform(16)] lod: LodParams,
+}
+
+impl Default for SdfExtension {
+    fn default() -> Self {
+        Self {
+            // pts: Handle::default(),
+            // kd: Handle::default(),
+            lod: LodParams::default(),
+        }
+    }
+}
+
+impl MaterialExtension for SdfExtension {
+    // fn fragment_shader() -> ShaderRef { SDF_SHADER_HANDLE.into() }
+}
+
+
+#[derive(Component, Debug, Clone, Default, Reflect, Eq, PartialEq)]
+#[reflect(Component, Default)]
+pub struct Sdf;
+
+
+#[derive(Component, Debug, Clone, Default, Reflect, Eq, PartialEq)]
+#[reflect(Component, Default)]
+pub struct ComputeSdf;
+
+
+// TODO: cache across mesh instances?
+#[derive(Component, Debug, Default, Reflect)]
+#[reflect(Component)]
+struct MeshSdfCache {
+    pts: Vec<GpuPt>,
+    dirty: bool,
+}
+
+
+#[derive(Resource, Default)]
+struct AggregateSdf {
+    pts: Vec<GpuPt>,
+    // kd: Vec<KdNodeGpu>,
+    dirty: bool,
+}
+
+
+pub struct SdfPlugin;
+impl Plugin for SdfPlugin {
+    fn build(&self, app: &mut App) {
+        // load_internal_asset!(
+        //     app,
+        //     SDF_SHADER_HANDLE,
+        //     "sdf.wgsl",
+        //     Shader::from_wgsl,
+        // );
+
+        app
+            .register_type::<MeshSdfCache>()
+            .register_type::<ComputeSdf>()
+            .register_type::<Sdf>()
+            .register_type::<SdfRoot>()
+            .register_type::<SdfConfig>()
+            .init_resource::<SdfConfig>()
+            // .init_resource::<SdfBuffers>()
+            .init_resource::<AggregateSdf>()
+            .add_plugins((
+                MaterialPlugin::<SdfMaterial>::default(),
+            ))
+            .add_plugins(GaussianSplattingPlugin)
+            .add_systems(PreUpdate, propagate_sdf_tags)
+            .add_systems(Update, cache_mesh_sdf)
+            .add_systems(PostUpdate, aggregate_sdf_system)
+            .add_systems(PreUpdate, upload_sdf)
+            .add_systems(Update, apply_sdf_material);
+    }
+}
+
+
+
+pub fn propagate_sdf_tags(
+    mut commands: Commands,
+    roots: Query<Entity, With<SdfRoot>>,
+    has_sdf: Query<Entity, With<Sdf>>,
+    parents: Query<&ChildOf>,
+) {
+    let root_set: HashSet<Entity> = roots.iter().collect();
+
+    for entity in has_sdf.iter() {
+        let is_descendant = parents
+            .iter_ancestors(entity)
+            .any(|ancestor| root_set.contains(&ancestor));
+
+        if is_descendant {
+            if let Ok(mut valid_mesh) = commands.get_entity(entity) {
+                valid_mesh.try_insert(ComputeSdf);
+            }
+        }
+    }
+}
+
+
+fn cache_mesh_sdf(
+    mut commands: Commands,
+    cfg: Res<SdfConfig>,
+    meshes: Res<Assets<Mesh>>,
+    mut q: Query<
+        (
+            Entity,
+            &Mesh3d,
+            &GlobalTransform,
+            Option<&mut MeshSdfCache>,
+        ),
+        (
+            With<ComputeSdf>,
+            // Changed<Mesh3d>,
+            // Changed<GlobalTransform>,
+            Without<MeshSdfCache>,
+        ),
+    >,
+    // time: Res<Time>,
+    mut agg: ResMut<AggregateSdf>,
+    mut rng: Local<Option<SmallRng>>,
+) {
+    if rng.is_none() { *rng = SmallRng::from_entropy().into(); }
+    let rng = rng.as_mut().unwrap();
+
+    if cfg.is_changed() {
+        // TODO: clear sdf caches
+    }
+
+    for (e, mesh_handle, tf, maybe_cache) in &mut q {
+        let Some(mesh) = meshes.get(mesh_handle) else { continue };
+
+        let pts = compute_sparse_sdf_for_mesh(
+            mesh,
+            tf,
+            &cfg,
+            &mut *rng,
+        );
+
+        match maybe_cache {
+            Some(mut cache) => {
+                info!("updating cached {} SDF points for mesh {:?}", pts.len(), e);
+                cache.pts = pts;
+                cache.dirty = true;
+            }
+            None => {
+                info!("cached {} SDF points for mesh {:?}", pts.len(), e);
+                commands
+                    .entity(e)
+                    .insert(MeshSdfCache {
+                        pts,
+                        dirty: true,
+                    });
+            }
+        }
+
+        agg.dirty = true;
+    }
+}
+
+
+fn apply_sdf_material(
+    mut commands: Commands,
+    tagged: Query<
+        Entity,
+        (
+            With<ComputeSdf>,
+            Without<MeshMaterial3d<SdfMaterial>>,
+        ),
+    >,
+    mut removed: RemovedComponents<ComputeSdf>,
+    mut mats: ResMut<Assets<SdfMaterial>>,
+    // bufs: Res<SdfBuffers>,
+    cfg: Res<SdfConfig>,
+) {
+    for e in removed.read() {
+        if let Ok(mut ent) = commands.get_entity(e) {
+            ent.remove::<MeshMaterial3d<SdfMaterial>>();
+        }
+    }
+
+    let lod = LodParams {
+        counts: UVec4::new(cfg.max_pts, cfg.min_pts, 0, 0),
+        range : Vec4::new(cfg.near_z , cfg.far_z, 0.0, 0.0),
+    };
+
+    for e in &tagged {
+        let mat = mats.add(SdfMaterial {
+            base: StandardMaterial {
+                alpha_mode: AlphaMode::Blend,
+                base_color: Color::srgba(0.4, 0.4, 0.4, 0.05),
+                cull_mode: None,
+                unlit: true,
+                ..default()
+            },
+            extension: SdfExtension {
+                // pts: bufs.pts.clone(),
+                // kd: bufs.kd.clone(),
+                lod,
+            },
+        });
+
+        commands
+            .entity(e)
+            .insert(MeshMaterial3d(mat));
+    }
+}
+
+
+fn point_budget(area_sum: f32, cfg: &SdfConfig) -> (usize, u32) {
+    let raw = (area_sum * cfg.per_m2 * 2.0).round() as u32;
+    let want = raw.clamp(cfg.min_pts, cfg.max_pts);
+    let per_tri = (want as f32 / (area_sum.max(1.0e-6) * 2.0)).ceil() as u32;
+    (want as usize, per_tri)
+}
+
+
+#[inline]
+pub fn compute_sparse_sdf_for_mesh(
+    mesh: &Mesh,
+    tf: &GlobalTransform,
+    cfg: &SdfConfig,
+    rng: &mut SmallRng,
+) -> Vec<GpuPt> {
+    let mat = tf.compute_matrix();
+    let verts: Vec<Vec3> = match mesh.attribute(Mesh::ATTRIBUTE_POSITION) {
+        Some(VertexAttributeValues::Float32x3(v)) =>
+            v.iter().map(|&[x, y, z]| mat.transform_point3(Vec3::new(x, y, z))).collect(),
+        Some(VertexAttributeValues::Float32x2(v)) =>
+            v.iter().map(|&[x, y]| mat.transform_point3(Vec3::new(x, y, 0.0))).collect(),
+        _ => return vec![],
+    };
+
+    let tris: Vec<[usize; 3]> = match mesh.indices() {
+        Some(Indices::U32(ix)) => ix.chunks_exact(3).map(|t| [t[0] as usize, t[1] as usize, t[2] as usize]).collect(),
+        Some(Indices::U16(ix)) => ix.chunks_exact(3).map(|t| [t[0] as usize, t[1] as usize, t[2] as usize]).collect(),
+        None => (0..verts.len()).step_by(3).map(|i| [i, i + 1, i + 2]).collect(),
+    };
+    if tris.is_empty() { return vec![]; }
+
+    #[inline] fn tri_area_normal(v0: Vec3, v1: Vec3, v2: Vec3) -> (f32, Vec3) {
+        let n = (v1 - v0).cross(v2 - v0);
+        (0.5 * n.length(), n.normalize())
+    }
+
+    let per_tri: Vec<(f32, Vec3)> = tris.par_iter()
+        .map(|&[i0, i1, i2]| tri_area_normal(verts[i0], verts[i1], verts[i2]))
+        .collect();
+
+    let area_sum: f32 = per_tri.par_iter().map(|(a, _)| *a).sum();
+    let (k_target, _) = point_budget(area_sum, cfg);
+    if k_target == 0 { return vec![]; }
+
+    let per_tri_samples: Vec<u32> = per_tri
+        .iter()
+        .map(|(a, _)| ((a / area_sum) * k_target as f32).ceil() as u32)
+        .collect();
+
+    let mut band: Vec<(Vec3, f32)> = tris.par_iter()
+        .zip(per_tri.par_iter())
+        .zip(per_tri_samples.par_iter())
+        .flat_map_iter(|((&[i0, i1, i2], &(_area, n)), &n_samples)| {
+            let mut thread_rng = SmallRng::from_rng(thread_rng()).unwrap();
+            let mut local = Vec::with_capacity(n_samples as usize * 2);
+            for _ in 0..n_samples {
+                let (u, v): (f32, f32) = (thread_rng.gen(), thread_rng.gen());
+                let b  = (1.0 - u).sqrt();
+                let p = verts[i0] * (1.0 - b)
+                       + verts[i1] * b * (1.0 - v)
+                       + verts[i2] * b * v;
+
+                let jitter = cfg.jitter * (thread_rng.gen::<f32>() * 2.0 - 1.0);
+                let band_r = cfg.band + jitter;
+
+                let sign  = if thread_rng.gen_bool(0.5) { 1.0 } else { -1.0 };
+                let dist  = thread_rng.gen::<f32>() * band_r;
+                let offset = n * dist * sign;
+                local.push((p + offset, dist * sign));
+            }
+            local
+        })
+        .collect();
+
+    if band.is_empty() { return vec![]; }
+
+    band[..].shuffle(rng);
+
+    let mut selected = Vec::<(Vec3, f32)>::with_capacity(k_target);
+    let mut remaining = band;
+    let seed = remaining.swap_remove(rng.gen_range(0..remaining.len()));
+    let (seed_p, seed_d) = seed;
+    selected.push((seed_p, seed_d));
+
+    let mut dists: Vec<f32> = remaining.iter()
+        .map(|(q, _)| (*q - seed_p).length_squared())
+        .collect();
+
+    while selected.len() < k_target && !remaining.is_empty() {
+        let best = dists
+            .iter()
+            .enumerate()
+            .max_by(|a, b| a.1.partial_cmp(b.1).unwrap())
+            .unwrap()
+            .0;
+
+        let (p_new, d_new) = remaining.swap_remove(best);
+        selected.push((p_new, d_new));
+        dists.swap_remove(best);
+
+        for (di, (q, _)) in remaining.iter().enumerate() {
+            let new_d2 = (*q - p_new).length_squared();
+            if new_d2 < dists[di] { dists[di] = new_d2; }
+        }
+    }
+
+    selected.into_iter()
+        .map(|(p, d)| GpuPt { pos_dist: p.extend(d) })
+        .collect()
+}
+
+
+fn aggregate_sdf_system(
+    mut agg: ResMut<AggregateSdf>,
+    mut caches: Query<
+        &mut MeshSdfCache,
+    >,
+) {
+    let any_dirty = caches.iter().any(|c| c.dirty);
+    if !any_dirty && !agg.dirty {
+        return;
+    }
+
+    info!("aggregating SDF points from {} caches", caches.iter().count());
+
+    agg.pts.clear();
+    for mut c in &mut caches {
+        agg.pts.extend(&c.pts);
+        c.dirty = false;
+    }
+
+    { // note: for gaussian representation, no KD tree is needed
+        // let kd = {
+        //     let mut order = (0..agg.pts.len()).collect::<Vec<_>>();
+        //     let mut kd = Vec::<KdNodeGpu>::new();
+        //     agg.kd.clear();
+        //     build_kd_nodes(&agg.pts, &mut order, &mut kd);
+        //     kd
+        // };
+
+        // agg.kd = kd;
+    }
+
+    agg.dirty = true;
+}
+
+
+fn upload_sdf(
+    mut commands: Commands,
+    mut planar_gaussian_3d: ResMut<Assets<PlanarGaussian3d>>,
+    // mut ssbos: ResMut<Assets<ShaderStorageBuffer>>,
+    mut agg: ResMut<AggregateSdf>,
+    // mut bufs: ResMut<SdfBuffers>,
+    scene_root: Query<
+        Entity,
+        With<SdfRoot>,
+    >,
+) {
+    if agg.pts.is_empty() || !agg.dirty {
+        return;
+    }
+
+    info!("uploading {} SDF points to PlanarGaussian3d", agg.pts.len());
+
+    // TODO: write gaussians in compute shader
+    { // map sdf to gaussians
+        const MIN_SCALE: f32 = 0.005;
+        const MAX_SCALE: f32 = 0.02;
+
+        let max_abs = agg.pts
+            .iter()
+            .map(|p| p.pos_dist.w.abs())
+            .fold(1e-5f32, f32::max);
+
+        let gaussians: Vec<Gaussian3d> = agg.pts
+            .iter()
+            .map(|pt| {
+                let dist = pt.pos_dist.w;
+                let signed_n = (dist / max_abs).clamp(-1.0, 1.0);
+                let mag_n = signed_n.abs().sqrt();
+
+                let s = MAX_SCALE - mag_n * (MAX_SCALE - MIN_SCALE);
+                let opacity = 1.0 - mag_n;
+
+                Gaussian3d {
+                    rotation: [1.0, 0.0, 0.0, 0.0].into(),
+                    position_visibility: PositionVisibility {
+                        position: pt.pos_dist.truncate().into(),
+                        visibility: 1.0,
+                    },
+                    scale_opacity: ScaleOpacity {
+                        scale: [s, s, s].into(),
+                        opacity,
+                    },
+                    spherical_harmonic: SphericalHarmonicCoefficients {
+                        coefficients: {
+                            let mut coefficients = [0.0; SH_COEFF_COUNT];
+                            let r = dist.is_sign_positive() as u32 as f32;
+                            coefficients[0] = r;
+                            coefficients[1] = 0.3;
+                            coefficients[2] = 1.0 - r;
+                            coefficients
+                        },
+                    },
+                }
+            })
+            .collect();
+        let gaussians_handle = planar_gaussian_3d.add(PlanarGaussian3d::from(gaussians));
+
+        commands
+            .entity(scene_root.single().expect("SdfRoot required to attach gaussians"))
+            .insert((
+                CloudSettings::default(),
+                PlanarGaussian3dHandle(gaussians_handle),
+            ));
+
+        // TODO: remove gaussians from scene root when leaving RenderMode::Sdf?
+    }
+
+    // {
+    //     debug_assert!(
+    //         !agg.kd.is_empty(),
+    //         "aggregate_sdf: kd-tree is empty while pts are not"
+    //     );
+
+    //     debug_assert_eq!(
+    //         agg.kd.iter().filter(|n| n.axis == 3).count(),
+    //         agg.pts.len(),
+    //         "kd leaves must equal point count"
+    //     );
+
+    //     for (i, n) in agg.kd.iter().enumerate() {
+    //         debug_assert!(
+    //             n.axis <= 3,
+    //             "kd node {i}: axis out of range ({})",
+    //             n.axis
+    //         );
+
+    //         if n.axis < 3 {
+    //             debug_assert!(
+    //                 (n.left == u32::MAX || (n.left as usize) < agg.kd.len())
+    //                     && (n.right == u32::MAX || (n.right as usize) < agg.kd.len()),
+    //                 "kd node {i}: child index out of bounds"
+    //             );
+    //         } else {
+    //             let idx = n.min_split.w as usize;
+    //             debug_assert!(
+    //                 idx < agg.pts.len(),
+    //                 "kd leaf {i}: point index {} out of bounds",
+    //                 idx
+    //             );
+    //         }
+    //     }
+    // }
+
+    // {
+    //     let pts_buf = if let Some(buf) = ssbos.get_mut(&bufs.pts) {
+    //         buf
+    //     } else {
+    //         bufs.pts = ssbos.add(ShaderStorageBuffer::new(&[], RenderAssetUsages::RENDER_WORLD));
+    //         ssbos.get_mut(&bufs.pts).unwrap()
+    //     };
+    //     pts_buf.set_data(&agg.pts);
+    // }
+
+    // {
+    //     let kd_buf = if let Some(buf) = ssbos.get_mut(&bufs.kd) {
+    //         buf
+    //     } else {
+    //         bufs.kd = ssbos.add(ShaderStorageBuffer::new(&[], RenderAssetUsages::RENDER_WORLD));
+    //         ssbos.get_mut(&bufs.kd).unwrap()
+    //     };
+    //     kd_buf.set_data(&agg.kd);
+    // }
+
+    agg.dirty = false;
+}
+
+
+
+// trait HasPos {
+//     fn pos(&self) -> Vec3;
+// }
+
+// impl HasPos for GpuPt {
+//     #[inline] fn pos(&self) -> Vec3 {
+//         self.pos_dist.truncate()
+//     }
+// }
+
+// impl HasPos for (Vec3, f32) {
+//     #[inline] fn pos(&self) -> Vec3 {
+//         self.0
+//     }
+// }
+
+
+// fn build_kd_nodes<T: HasPos>(
+//     pts: &[T],
+//     idxs: &mut [usize],
+//     out: &mut Vec<KdNodeGpu>,
+// ) -> u32 {
+//     match idxs.len() {
+//         0 => return u32::MAX,
+//         1 => {
+//             let p = pts[idxs[0]].pos();
+//             let me = out.len() as u32;
+//             out.push(KdNodeGpu {
+//                 min_split: p.extend(idxs[0] as f32),
+//                 max_pad: p.extend(0.0),
+//                 axis: 3,
+//                 left: u32::MAX,
+//                 right: u32::MAX,
+//                 _pad: u32::MAX,
+//             });
+//             return me;
+//         }
+//         _ => {}
+//     }
+
+//     let (mut min, mut max) = {
+//         let p0 = pts[idxs[0]].pos();
+//         (p0, p0)
+//     };
+
+//     for &i in idxs.iter().skip(1) {
+//         let p = pts[i].pos();
+//         min = min.min(p);
+//         max = max.max(p);
+//     }
+
+//     let delta = max - min;
+//     let axis = if delta.x >= delta.y && delta.x >= delta.z { 0 }
+//                 else if delta.y >= delta.z { 1 } else { 2 };
+
+//     idxs.sort_by(|&a, &b| pts[a]
+//         .pos()[axis]
+//         .partial_cmp(&pts[b].pos()[axis])
+//         .unwrap()
+//     );
+//     let mid = idxs.len() / 2;
+
+//     let me = out.len() as u32;
+//     out.push(KdNodeGpu {
+//         min_split: min.extend(pts[idxs[mid]].pos()[axis]),
+//         max_pad: max.extend(0.0),
+//         axis: axis as u32,
+//         left: u32::MAX,
+//         right: u32::MAX,
+//         _pad: u32::MAX,
+//     });
+
+//     let (left, right) = idxs.split_at_mut(mid);
+//     if !left.is_empty() { out[me as usize].left = build_kd_nodes(pts, left,  out); }
+//     if !right.is_empty() { out[me as usize].right = build_kd_nodes(pts, right, out); }
+//     me
+// }
diff --git a/src/render/sdf.wgsl b/src/render/sdf.wgsl
new file mode 100644
index 0000000..111a590
--- /dev/null
+++ b/src/render/sdf.wgsl
@@ -0,0 +1,153 @@
+#import bevy_pbr::{
+    forward_io::VertexOutput,
+    mesh_view_bindings::view,
+}
+
+
+struct SdfPt {
+    pos: vec3<f32>,
+    d: f32,
+};
+
+struct KdNode {
+    min_split: vec4<f32>,
+    max_pad: vec4<f32>,
+    axis: u32,
+    left: u32,
+    right: u32,
+    _pad: u32,
+};
+
+struct LodParams {
+    counts: vec4<u32>,
+    range: vec4<f32>,
+};
+
+
+@group(2) @binding(14) var<storage, read> pts: array<SdfPt>;
+@group(2) @binding(15) var<storage, read> kd: array<KdNode>;
+@group(2) @binding(16) var<uniform> lod : LodParams;
+
+
+fn dist2(a: vec3<f32>, b: vec3<f32>) -> f32 {
+    let d = a - b; return dot(d, d);
+}
+
+fn nearest(root: u32, q: vec3<f32>, limit: u32) -> f32 {
+    var best = 1e9;
+    var sgn = 1.0;
+    var stack: array<u32,32>;
+    var sp: i32 = 0;
+
+    stack[sp] = root;
+    sp += 1;
+
+    loop {
+        if sp==0 { break; }
+        sp -= 1;
+        let id = stack[sp];
+        let n  = kd[id];
+
+        let off = max(vec3<f32>(0.0), n.min_split.xyz - q) +
+                  max(vec3<f32>(0.0), q - n.max_pad.xyz);
+        if dot(off, off) > best * best { continue; }
+
+        if n.axis == 3u {
+            let idx = u32(n.min_split.w);
+            if idx < limit {
+                let d = dist2(q, pts[idx].pos);
+                if d < best*best {
+                    best = sqrt(d);
+                    sgn = sign(pts[idx].d);
+                }
+            }
+        } else {
+            let left_is_near = q[n.axis] < n.min_split.w;
+
+            let near = select(n.right, n.left, left_is_near);
+            let far = select(n.left , n.right, left_is_near);
+
+            stack[sp] = far;
+            sp += 1;
+
+            stack[sp] = near;
+            sp += 1;
+        }
+    }
+
+    return best * sgn;
+}
+
+
+
+// fn vis_pt(sdf: f32, radius: f32) -> vec4<f32> {
+//     let a = clamp(1.0 - abs(sdf) / radius, 0.0, 1.0);
+//     let col = select(
+//         vec3<f32>(1.0, 0.25, 0.25),
+//         vec3<f32>(0.2, 0.6, 1.0),
+//         sdf < 0.0,
+//     );
+//     return vec4<f32>(col, a * a);
+// }
+
+
+fn srgb(x: vec3<f32>) -> vec3<f32> {
+    return pow(x, vec3<f32>(1.0 / 2.2));
+}
+
+fn heat(t: f32) -> vec3<f32> {
+    let r = clamp(t * 2.0 - 0.5, 0.0, 1.0);
+    let g = clamp(2.0 - abs(t * 2.0 - 1.0), 0.0, 1.0);
+    let b = clamp(1.5 - t * 2.0, 0.0, 1.0);
+    return srgb(vec3<f32>(r, g, b));
+}
+
+fn vis_pt(sdf: f32, radius: f32) -> vec4<f32> {
+    let a = clamp(1.0 - abs(sdf) / radius, 0.0, 1.0);
+    let t = 0.5 + 0.5 * clamp(sdf / radius, -1.0, 1.0);
+    let col = heat(t);
+    return vec4<f32>(col, a * a);
+}
+
+
+struct FOut { @location(0) color : vec4<f32> };
+
+@fragment
+fn fragment(in: VertexOutput) -> FOut {
+    // return FOut(vec4<f32>(1.0, 0.0, 0.0, 1.0));
+
+    let p_world = in.world_position.xyz;
+    let cam = (view.view_from_world * vec4<f32>(p_world, 1.0)).xyz;
+
+
+
+    let want = mix(
+        f32(lod.counts.x),
+        f32(lod.counts.y),
+        clamp(
+            (abs(cam.z) - lod.range.x) / (lod.range.y - lod.range.x),
+            0.0,
+            1.0,
+        )
+    );
+    let limit = u32(round(want));
+
+    let sdf = nearest(0u, p_world, limit);
+    let vis = vis_pt(sdf, 0.08 * (1.0 + 0.03 * abs(cam.z)));
+
+    if vis.a < 0.01 { discard; }
+    return FOut(vis);
+
+
+
+    // let z = abs(cam.z);
+    // let t = clamp((z - lod.range.x) / (lod.range.y - lod.range.x), 0.0, 1.0);
+    // let want = mix(f32(lod.counts.x), f32(lod.counts.y), t);
+    // let count = u32(round(want));
+
+    // let sdf = nearest(0u, p_world, count);
+
+    // // visualize: −0.5 m..+0.5 m → black..white
+    // let gray = clamp(sdf + 0.5, 0.0, 1.0);
+    // return FOut(vec4<f32>(gray, gray, gray, 1.0));
+}
diff --git a/src/scene/mod.rs b/src/scene/mod.rs
index 46932e4..f4f5819 100644
--- a/src/scene/mod.rs
+++ b/src/scene/mod.rs
@@ -121,10 +121,10 @@ pub struct SceneAabb {
 }
 
 impl SceneAabb {
-    fn new(center: Vec3) -> Self {
+    fn empty() -> Self {
         Self {
-            min: center,
-            max: center,
+            min: Vec3::splat(f32::MAX),
+            max: Vec3::splat(f32::MIN),
         }
     }
 
@@ -143,26 +143,8 @@ impl SceneAabb {
         ];
 
         for corner in corners {
-            let gt = corner.cmpgt(self.max);
-            let lt = corner.cmplt(self.min);
-
-            if gt.x {
-                self.max.x = corner.x;
-            } else if lt.x {
-                self.min.x = corner.x;
-            }
-
-            if gt.y {
-                self.max.y = corner.y;
-            } else if lt.y {
-                self.min.y = corner.y;
-            }
-
-            if gt.z {
-                self.max.z = corner.z;
-            } else if lt.z {
-                self.min.z = corner.z;
-            }
+            self.min = self.min.min(corner);
+            self.max = self.max.max(corner);
         }
     }
 }
@@ -184,25 +166,20 @@ impl From<&SceneAabb> for Transform {
 fn create_scene_aabb(
     mut commands: Commands,
     scene_instances: Query<
-        (
-            Entity,
-            &ZeroverseSceneRoot,
-            &GlobalTransform,
-        ),
+        Entity,
+        With<SceneAabbNode>,
     >,
     children: Query<&Children>,
     bounding_boxes: Query<(&Aabb, &GlobalTransform)>,
 ) {
-    for (entity, _root_tag, root_tf) in &scene_instances {
-        let mut scene_aabb = SceneAabb::new(root_tf.translation());
+    for entity in &scene_instances {
+        let mut scene_aabb = SceneAabb::empty();
 
         let merged_any = children
             .iter_descendants(entity)
             .filter_map(|child| bounding_boxes.get(child).ok())
-            .any(|(bb, tf)| {
-                scene_aabb.merge_aabb(bb, tf);
-                true
-            });
+            .map(|(bb, tf)| { scene_aabb.merge_aabb(bb, tf); })
+            .count() > 0;
 
         if merged_any {
             commands.entity(entity).insert(scene_aabb);
diff --git a/src/scene/object.rs b/src/scene/object.rs
index 0f9cf04..b40ff11 100644
--- a/src/scene/object.rs
+++ b/src/scene/object.rs
@@ -7,6 +7,7 @@ use crate::{
         TrajectorySampler,
         ZeroverseCamera,
     },
+    render::sdf::SdfRoot,
     scene::{
         lighting::{
             setup_lighting,
@@ -14,6 +15,7 @@ use crate::{
         },
         RegenerateSceneEvent,
         RotationAugment,
+        SceneAabbNode,
         SceneLoadedEvent,
         ZeroverseScene,
         ZeroverseSceneRoot,
@@ -74,6 +76,8 @@ fn setup_scene(
             Name::new("zeroverse_object"),
             object_settings.primitive.clone(),
             RotationAugment,
+            SceneAabbNode,
+            SdfRoot,
             ZeroverseScene,
             ZeroverseSceneRoot,
         ))
diff --git a/src/scene/semantic_room.rs b/src/scene/semantic_room.rs
index 65df599..120aea4 100644
--- a/src/scene/semantic_room.rs
+++ b/src/scene/semantic_room.rs
@@ -15,6 +15,7 @@ use crate::{
         TrajectorySampler,
         ZeroverseCamera,
     },
+    render::sdf::SdfRoot,
     scene::{
         lighting::{
             setup_lighting,
@@ -735,41 +736,44 @@ fn spawn_room_neighborhood(
     base_scale: &Vec3,
     settings: &ZeroverseSemanticRoomSettings,
 ) {
+    let mut windows_root = [false; 4];
+
     commands
         .spawn((
             InheritedVisibility::default(),
             Name::new("room"),
             SceneAabbNode,
+            SdfRoot,
             Transform::default(),
             Visibility::default(),
         ))
         .with_children(|root| {
-            let windows_root = spawn_room(
+            windows_root = spawn_room(
                 root,
                 base_scale,
                 settings,
                 0,
                 false,
             );
+        });
 
-            let mut rooms: HashMap<(i32, i32), (Vec3, Vec3)> = HashMap::new();
-            rooms.insert((0, 0), (Vec3::ZERO, *base_scale));
+    let mut rooms: HashMap<(i32, i32), (Vec3, Vec3)> = HashMap::new();
+    rooms.insert((0, 0), (Vec3::ZERO, *base_scale));
 
-            for (idx, &(dx, dz)) in DIRS.iter().enumerate() {
-                if !windows_root[idx] { continue; }
-                spawn_room_rec(
-                    root,
-                    (dx, dz),
-                    (0, 0),
-                    (dx, dz),
-                    1,
-                    settings.neighborhood_depth as i32 - 1,
-                    *base_scale,
-                    &mut rooms,
-                    settings,
-                );
-            }
-        });
+    for (idx, &(dx, dz)) in DIRS.iter().enumerate() {
+        if !windows_root[idx] { continue; }
+        spawn_room_rec(
+            commands,
+            (dx, dz),
+            (0, 0),
+            (dx, dz),
+            1,
+            settings.neighborhood_depth as i32 - 1,
+            *base_scale,
+            &mut rooms,
+            settings,
+        );
+    }
 }
 
 

From 564cbe7f603395b8ac633e54eaf9706f9c5f619d Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Fri, 18 Jul 2025 00:32:54 -0500
Subject: [PATCH 2/7] chore: cleanup unused

---
 src/render/sdf.rs | 201 ++--------------------------------------------
 1 file changed, 8 insertions(+), 193 deletions(-)

diff --git a/src/render/sdf.rs b/src/render/sdf.rs
index 53d31d1..7fa5543 100644
--- a/src/render/sdf.rs
+++ b/src/render/sdf.rs
@@ -2,7 +2,6 @@ use std::collections::HashSet;
 
 use bevy::{
     prelude::*,
-    // asset::{load_internal_asset, weak_handle},
     pbr::{ExtendedMaterial, MaterialExtension},
     render::{
         mesh::{
@@ -10,9 +9,7 @@ use bevy::{
             Mesh,
             VertexAttributeValues,
         },
-        // render_asset::RenderAssetUsages,
         render_resource::*,
-        // storage::ShaderStorageBuffer,
     },
 };
 use bevy_gaussian_splatting::{
@@ -87,49 +84,23 @@ struct LodParams {
     range: Vec4,
 }
 
-// #[derive(Clone, Copy, Debug, Default, Reflect, ShaderType, Pod, Zeroable)]
-// #[repr(C)]
-// pub struct KdNodeGpu {
-//     min_split: Vec4,
-//     max_pad: Vec4,
-//     axis: u32,
-//     left: u32,
-//     right: u32,
-//     _pad: u32,
-// }
-
-// #[derive(Resource, Default, Clone)]
-// pub struct SdfBuffers {
-//     pub pts: Handle<ShaderStorageBuffer>,
-//     pub kd: Handle<ShaderStorageBuffer>,
-// }
-
-
-// pub const SDF_SHADER_HANDLE: Handle<Shader> = weak_handle!("01b0a4af-31b4-4a71-a6bc-045e8778e6d4");
-
 pub type SdfMaterial = ExtendedMaterial<StandardMaterial, SdfExtension>;
 
 
 #[derive(Asset, AsBindGroup, TypePath, Debug, Clone)]
 pub struct SdfExtension {
-//     #[storage(14, read_only)] pts: Handle<ShaderStorageBuffer>,
-//     #[storage(15, read_only)] kd: Handle<ShaderStorageBuffer>,
     #[uniform(16)] lod: LodParams,
 }
 
 impl Default for SdfExtension {
     fn default() -> Self {
         Self {
-            // pts: Handle::default(),
-            // kd: Handle::default(),
             lod: LodParams::default(),
         }
     }
 }
 
-impl MaterialExtension for SdfExtension {
-    // fn fragment_shader() -> ShaderRef { SDF_SHADER_HANDLE.into() }
-}
+impl MaterialExtension for SdfExtension { }
 
 
 #[derive(Component, Debug, Clone, Default, Reflect, Eq, PartialEq)]
@@ -154,7 +125,6 @@ struct MeshSdfCache {
 #[derive(Resource, Default)]
 struct AggregateSdf {
     pts: Vec<GpuPt>,
-    // kd: Vec<KdNodeGpu>,
     dirty: bool,
 }
 
@@ -162,13 +132,6 @@ struct AggregateSdf {
 pub struct SdfPlugin;
 impl Plugin for SdfPlugin {
     fn build(&self, app: &mut App) {
-        // load_internal_asset!(
-        //     app,
-        //     SDF_SHADER_HANDLE,
-        //     "sdf.wgsl",
-        //     Shader::from_wgsl,
-        // );
-
         app
             .register_type::<MeshSdfCache>()
             .register_type::<ComputeSdf>()
@@ -176,7 +139,6 @@ impl Plugin for SdfPlugin {
             .register_type::<SdfRoot>()
             .register_type::<SdfConfig>()
             .init_resource::<SdfConfig>()
-            // .init_resource::<SdfBuffers>()
             .init_resource::<AggregateSdf>()
             .add_plugins((
                 MaterialPlugin::<SdfMaterial>::default(),
@@ -232,6 +194,7 @@ fn cache_mesh_sdf(
             Without<MeshSdfCache>,
         ),
     >,
+    caches: Query<Entity, With<MeshSdfCache>>,
     // time: Res<Time>,
     mut agg: ResMut<AggregateSdf>,
     mut rng: Local<Option<SmallRng>>,
@@ -240,7 +203,12 @@ fn cache_mesh_sdf(
     let rng = rng.as_mut().unwrap();
 
     if cfg.is_changed() {
-        // TODO: clear sdf caches
+        for e in caches.iter() {
+            if let Ok(mut ent) = commands.get_entity(e) {
+                ent.remove::<MeshSdfCache>();
+            }
+        }
+        return;
     }
 
     for (e, mesh_handle, tf, maybe_cache) in &mut q {
@@ -286,7 +254,6 @@ fn apply_sdf_material(
     >,
     mut removed: RemovedComponents<ComputeSdf>,
     mut mats: ResMut<Assets<SdfMaterial>>,
-    // bufs: Res<SdfBuffers>,
     cfg: Res<SdfConfig>,
 ) {
     for e in removed.read() {
@@ -310,8 +277,6 @@ fn apply_sdf_material(
                 ..default()
             },
             extension: SdfExtension {
-                // pts: bufs.pts.clone(),
-                // kd: bufs.kd.clone(),
                 lod,
             },
         });
@@ -454,18 +419,6 @@ fn aggregate_sdf_system(
         c.dirty = false;
     }
 
-    { // note: for gaussian representation, no KD tree is needed
-        // let kd = {
-        //     let mut order = (0..agg.pts.len()).collect::<Vec<_>>();
-        //     let mut kd = Vec::<KdNodeGpu>::new();
-        //     agg.kd.clear();
-        //     build_kd_nodes(&agg.pts, &mut order, &mut kd);
-        //     kd
-        // };
-
-        // agg.kd = kd;
-    }
-
     agg.dirty = true;
 }
 
@@ -473,9 +426,7 @@ fn aggregate_sdf_system(
 fn upload_sdf(
     mut commands: Commands,
     mut planar_gaussian_3d: ResMut<Assets<PlanarGaussian3d>>,
-    // mut ssbos: ResMut<Assets<ShaderStorageBuffer>>,
     mut agg: ResMut<AggregateSdf>,
-    // mut bufs: ResMut<SdfBuffers>,
     scene_root: Query<
         Entity,
         With<SdfRoot>,
@@ -542,141 +493,5 @@ fn upload_sdf(
         // TODO: remove gaussians from scene root when leaving RenderMode::Sdf?
     }
 
-    // {
-    //     debug_assert!(
-    //         !agg.kd.is_empty(),
-    //         "aggregate_sdf: kd-tree is empty while pts are not"
-    //     );
-
-    //     debug_assert_eq!(
-    //         agg.kd.iter().filter(|n| n.axis == 3).count(),
-    //         agg.pts.len(),
-    //         "kd leaves must equal point count"
-    //     );
-
-    //     for (i, n) in agg.kd.iter().enumerate() {
-    //         debug_assert!(
-    //             n.axis <= 3,
-    //             "kd node {i}: axis out of range ({})",
-    //             n.axis
-    //         );
-
-    //         if n.axis < 3 {
-    //             debug_assert!(
-    //                 (n.left == u32::MAX || (n.left as usize) < agg.kd.len())
-    //                     && (n.right == u32::MAX || (n.right as usize) < agg.kd.len()),
-    //                 "kd node {i}: child index out of bounds"
-    //             );
-    //         } else {
-    //             let idx = n.min_split.w as usize;
-    //             debug_assert!(
-    //                 idx < agg.pts.len(),
-    //                 "kd leaf {i}: point index {} out of bounds",
-    //                 idx
-    //             );
-    //         }
-    //     }
-    // }
-
-    // {
-    //     let pts_buf = if let Some(buf) = ssbos.get_mut(&bufs.pts) {
-    //         buf
-    //     } else {
-    //         bufs.pts = ssbos.add(ShaderStorageBuffer::new(&[], RenderAssetUsages::RENDER_WORLD));
-    //         ssbos.get_mut(&bufs.pts).unwrap()
-    //     };
-    //     pts_buf.set_data(&agg.pts);
-    // }
-
-    // {
-    //     let kd_buf = if let Some(buf) = ssbos.get_mut(&bufs.kd) {
-    //         buf
-    //     } else {
-    //         bufs.kd = ssbos.add(ShaderStorageBuffer::new(&[], RenderAssetUsages::RENDER_WORLD));
-    //         ssbos.get_mut(&bufs.kd).unwrap()
-    //     };
-    //     kd_buf.set_data(&agg.kd);
-    // }
-
     agg.dirty = false;
 }
-
-
-
-// trait HasPos {
-//     fn pos(&self) -> Vec3;
-// }
-
-// impl HasPos for GpuPt {
-//     #[inline] fn pos(&self) -> Vec3 {
-//         self.pos_dist.truncate()
-//     }
-// }
-
-// impl HasPos for (Vec3, f32) {
-//     #[inline] fn pos(&self) -> Vec3 {
-//         self.0
-//     }
-// }
-
-
-// fn build_kd_nodes<T: HasPos>(
-//     pts: &[T],
-//     idxs: &mut [usize],
-//     out: &mut Vec<KdNodeGpu>,
-// ) -> u32 {
-//     match idxs.len() {
-//         0 => return u32::MAX,
-//         1 => {
-//             let p = pts[idxs[0]].pos();
-//             let me = out.len() as u32;
-//             out.push(KdNodeGpu {
-//                 min_split: p.extend(idxs[0] as f32),
-//                 max_pad: p.extend(0.0),
-//                 axis: 3,
-//                 left: u32::MAX,
-//                 right: u32::MAX,
-//                 _pad: u32::MAX,
-//             });
-//             return me;
-//         }
-//         _ => {}
-//     }
-
-//     let (mut min, mut max) = {
-//         let p0 = pts[idxs[0]].pos();
-//         (p0, p0)
-//     };
-
-//     for &i in idxs.iter().skip(1) {
-//         let p = pts[i].pos();
-//         min = min.min(p);
-//         max = max.max(p);
-//     }
-
-//     let delta = max - min;
-//     let axis = if delta.x >= delta.y && delta.x >= delta.z { 0 }
-//                 else if delta.y >= delta.z { 1 } else { 2 };
-
-//     idxs.sort_by(|&a, &b| pts[a]
-//         .pos()[axis]
-//         .partial_cmp(&pts[b].pos()[axis])
-//         .unwrap()
-//     );
-//     let mid = idxs.len() / 2;
-
-//     let me = out.len() as u32;
-//     out.push(KdNodeGpu {
-//         min_split: min.extend(pts[idxs[mid]].pos()[axis]),
-//         max_pad: max.extend(0.0),
-//         axis: axis as u32,
-//         left: u32::MAX,
-//         right: u32::MAX,
-//         _pad: u32::MAX,
-//     });
-
-//     let (left, right) = idxs.split_at_mut(mid);
-//     if !left.is_empty() { out[me as usize].left = build_kd_nodes(pts, left,  out); }
-//     if !right.is_empty() { out[me as usize].right = build_kd_nodes(pts, right, out); }
-//     me
-// }

From 5d1b427ab18cce343669884349aa8f94fca81101 Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Fri, 18 Jul 2025 00:40:13 -0500
Subject: [PATCH 3/7] docs: todo

---
 src/render/sdf.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/render/sdf.rs b/src/render/sdf.rs
index 7fa5543..36c5cb3 100644
--- a/src/render/sdf.rs
+++ b/src/render/sdf.rs
@@ -483,6 +483,7 @@ fn upload_sdf(
             .collect();
         let gaussians_handle = planar_gaussian_3d.add(PlanarGaussian3d::from(gaussians));
 
+        // TODO: redraw on PlanarGaussian3dHandle override
         commands
             .entity(scene_root.single().expect("SdfRoot required to attach gaussians"))
             .insert((

From a55c791ffca07d5d97c61a3f7e65adc9ab41da4c Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Fri, 18 Jul 2025 00:44:45 -0500
Subject: [PATCH 4/7] fix: lint

---
 src/render/sdf.rs | 17 +++++------------
 1 file changed, 5 insertions(+), 12 deletions(-)

diff --git a/src/render/sdf.rs b/src/render/sdf.rs
index 36c5cb3..25bd819 100644
--- a/src/render/sdf.rs
+++ b/src/render/sdf.rs
@@ -73,8 +73,8 @@ impl Default for SdfConfig {
 
 #[derive(Clone, Copy, Debug, Default, Reflect, ShaderType, Pod, Zeroable)]
 #[repr(C)]
-struct GpuPt {
-    pos_dist: Vec4,
+pub struct GpuPt {
+    pub pos_dist: Vec4,
 }
 
 #[derive(Clone, Copy, Debug, Default, Reflect, ShaderType, Pod, Zeroable)]
@@ -87,19 +87,11 @@ struct LodParams {
 pub type SdfMaterial = ExtendedMaterial<StandardMaterial, SdfExtension>;
 
 
-#[derive(Asset, AsBindGroup, TypePath, Debug, Clone)]
+#[derive(Asset, AsBindGroup, TypePath, Debug, Default, Clone)]
 pub struct SdfExtension {
     #[uniform(16)] lod: LodParams,
 }
 
-impl Default for SdfExtension {
-    fn default() -> Self {
-        Self {
-            lod: LodParams::default(),
-        }
-    }
-}
-
 impl MaterialExtension for SdfExtension { }
 
 
@@ -176,6 +168,7 @@ pub fn propagate_sdf_tags(
 }
 
 
+#[allow(clippy::type_complexity)]
 fn cache_mesh_sdf(
     mut commands: Commands,
     cfg: Res<SdfConfig>,
@@ -465,7 +458,7 @@ fn upload_sdf(
                         visibility: 1.0,
                     },
                     scale_opacity: ScaleOpacity {
-                        scale: [s, s, s].into(),
+                        scale: [s, s, s],
                         opacity,
                     },
                     spherical_harmonic: SphericalHarmonicCoefficients {

From 2d156e0efde7bfb8348dd056aea0e6d8a19c7d4c Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Fri, 18 Jul 2025 00:47:40 -0500
Subject: [PATCH 5/7] chore: more cleanup

---
 src/render/sdf.rs | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/render/sdf.rs b/src/render/sdf.rs
index 25bd819..23cb18c 100644
--- a/src/render/sdf.rs
+++ b/src/render/sdf.rs
@@ -188,7 +188,6 @@ fn cache_mesh_sdf(
         ),
     >,
     caches: Query<Entity, With<MeshSdfCache>>,
-    // time: Res<Time>,
     mut agg: ResMut<AggregateSdf>,
     mut rng: Local<Option<SmallRng>>,
 ) {
@@ -476,7 +475,7 @@ fn upload_sdf(
             .collect();
         let gaussians_handle = planar_gaussian_3d.add(PlanarGaussian3d::from(gaussians));
 
-        // TODO: redraw on PlanarGaussian3dHandle override
+        // TODO: redraw on PlanarGaussian3dHandle override (upstream issue)
         commands
             .entity(scene_root.single().expect("SdfRoot required to attach gaussians"))
             .insert((

From 628b2be0febe9ac77cf8dacfc5209175d79a29f2 Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Tue, 22 Jul 2025 20:46:10 -0500
Subject: [PATCH 6/7] feat: gaussian visualization toggle

---
 src/render/sdf.rs | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/render/sdf.rs b/src/render/sdf.rs
index 23cb18c..70aa284 100644
--- a/src/render/sdf.rs
+++ b/src/render/sdf.rs
@@ -54,6 +54,7 @@ pub struct SdfConfig {
     pub max_pts: u32,
     pub near_z: f32,
     pub far_z: f32,
+    pub gaussian_visualization: bool,
 }
 
 impl Default for SdfConfig {
@@ -66,6 +67,7 @@ impl Default for SdfConfig {
             max_pts: 1024,
             near_z: 0.1,
             far_z: 25.0,
+            gaussian_visualization: true,
         }
     }
 }
@@ -288,6 +290,7 @@ fn point_budget(area_sum: f32, cfg: &SdfConfig) -> (usize, u32) {
 }
 
 
+// TODO: resolve non-manifold ambiguities
 #[inline]
 pub fn compute_sparse_sdf_for_mesh(
     mesh: &Mesh,
@@ -399,7 +402,7 @@ fn aggregate_sdf_system(
     >,
 ) {
     let any_dirty = caches.iter().any(|c| c.dirty);
-    if !any_dirty && !agg.dirty {
+    if !any_dirty {
         return;
     }
 
@@ -423,7 +426,12 @@ fn upload_sdf(
         Entity,
         With<SdfRoot>,
     >,
+    config: Res<SdfConfig>,
 ) {
+    if !config.gaussian_visualization {
+        return;
+    }
+
     if agg.pts.is_empty() || !agg.dirty {
         return;
     }

From ea8b35d90d0818db90324d897581530a8c85651e Mon Sep 17 00:00:00 2001
From: mosure <mitchell@mosure.me>
Date: Wed, 23 Jul 2025 19:06:07 -0500
Subject: [PATCH 7/7] feat: dense sampling

---
 src/render/sdf.rs | 194 ++++++++++++++++++++++++++++++++++++++++++----
 1 file changed, 181 insertions(+), 13 deletions(-)

diff --git a/src/render/sdf.rs b/src/render/sdf.rs
index 70aa284..31a2ec2 100644
--- a/src/render/sdf.rs
+++ b/src/render/sdf.rs
@@ -1,4 +1,4 @@
-use std::collections::HashSet;
+use std::collections::{HashMap, HashSet};
 
 use bevy::{
     prelude::*,
@@ -44,6 +44,7 @@ use rayon::prelude::*;
 pub struct SdfRoot;
 
 
+// TODO: python api
 #[derive(Resource, Reflect, Debug, Clone)]
 #[reflect(Resource, Default)]
 pub struct SdfConfig {
@@ -55,6 +56,7 @@ pub struct SdfConfig {
     pub near_z: f32,
     pub far_z: f32,
     pub gaussian_visualization: bool,
+    pub dense_sampling: bool,
 }
 
 impl Default for SdfConfig {
@@ -68,6 +70,7 @@ impl Default for SdfConfig {
             near_z: 0.1,
             far_z: 25.0,
             gaussian_visualization: true,
+            dense_sampling: false,
         }
     }
 }
@@ -119,6 +122,7 @@ struct MeshSdfCache {
 #[derive(Resource, Default)]
 struct AggregateSdf {
     pts: Vec<GpuPt>,
+    uniform_start: usize,
     dirty: bool,
 }
 
@@ -395,26 +399,190 @@ pub fn compute_sparse_sdf_for_mesh(
 }
 
 
-fn aggregate_sdf_system(
+pub fn aggregate_sdf_system(
     mut agg: ResMut<AggregateSdf>,
-    mut caches: Query<
-        &mut MeshSdfCache,
-    >,
+    mut caches: Query<&mut MeshSdfCache>,
+    config: Res<SdfConfig>,
 ) {
-    let any_dirty = caches.iter().any(|c| c.dirty);
-    if !any_dirty {
+    if !caches.iter().any(|c| c.dirty) {
         return;
     }
 
-    info!("aggregating SDF points from {} caches", caches.iter().count());
-
     agg.pts.clear();
     for mut c in &mut caches {
         agg.pts.extend(&c.pts);
         c.dirty = false;
     }
-
     agg.dirty = true;
+    agg.uniform_start = agg.pts.len();
+
+    info!("aggregated {} SDF points from mesh caches", agg.pts.len());
+
+    if !config.dense_sampling {
+        return;
+    }
+
+    if agg.pts.is_empty() {
+        return;
+    }
+
+    let (mut min, mut max) =
+        (Vec3::splat(f32::INFINITY), Vec3::splat(f32::NEG_INFINITY));
+
+    for p in &agg.pts {
+        let pos = p.pos_dist.truncate();
+        min = min.min(pos);
+        max = max.max(pos);
+    }
+
+    const CELLS_PER_AXIS: f32 = 64.0;
+    let cell_size = (max - min).max_element() / CELLS_PER_AXIS;
+    if cell_size == 0.0 {
+        return;
+    }
+    let inv_cell = 1.0 / cell_size;
+    let dims = ((max - min) * inv_cell).ceil().as_ivec3();
+
+    #[derive(Default, Clone, Copy)]
+    struct Acc {
+        sum_pos: Vec3,
+        sum_dist: f32,
+        count: u32,
+        has_neg: bool,
+    }
+    let mut acc: HashMap<IVec3, Acc> = HashMap::with_capacity(agg.pts.len());
+
+    const NB6: [IVec3; 6] = [
+        IVec3::new( 1, 0, 0),  IVec3::new(-1, 0, 0),
+        IVec3::new( 0, 1, 0),  IVec3::new( 0,-1, 0),
+        IVec3::new( 0, 0, 1),  IVec3::new( 0, 0,-1),
+    ];
+
+    for p in &agg.pts {
+        let pos   = p.pos_dist.truncate();
+        let key   = ((pos - min) * inv_cell).floor().as_ivec3();
+        let dist  = p.pos_dist.w;
+        let isneg = dist.is_sign_negative();
+
+        let mut bump = |k: IVec3| {
+            let e = acc.entry(k).or_default();
+            e.sum_pos  += pos;
+            e.sum_dist += dist;
+            e.count    += 1;
+            e.has_neg  |= isneg;
+        };
+
+        bump(key);
+
+        for dx in -1..=1 {
+            for dy in -1..=1 {
+                for dz in -1..=1 {
+                    if dx == 0 && dy == 0 && dz == 0 {
+                        continue;
+                    }
+                    bump(key + IVec3::new(dx, dy, dz));
+                }
+            }
+        }
+    }
+
+    #[derive(Clone, Copy)]
+    struct Cell { pos: Vec3, dist: f32, has_neg: bool }
+
+    let occ: HashMap<IVec3, Cell> = acc
+        .into_iter()
+        .map(|(k, a)| {
+            let inv = 1.0 / a.count as f32;
+            (
+                k,
+                Cell {
+                    pos:      a.sum_pos * inv,
+                    dist:     a.sum_dist * inv,
+                    has_neg:  a.has_neg,
+                },
+            )
+        })
+        .collect();
+
+    let mut outside = HashSet::<IVec3>::new();
+    let mut stack   = Vec::<IVec3>::new();
+
+    for x in 0..=dims.x {
+        for y in 0..=dims.y {
+            for z in 0..=dims.z {
+                if x == 0 || y == 0 || z == 0 ||
+                   x == dims.x || y == dims.y || z == dims.z
+                {
+                    let k = IVec3::new(x, y, z);
+                    if !occ.contains_key(&k) && outside.insert(k) {
+                        stack.push(k);
+                    }
+                }
+            }
+        }
+    }
+
+    let is_solid = |k: &IVec3| occ.contains_key(k);
+
+    while let Some(c) = stack.pop() {
+        for d in NB6 {
+            let n = c + d;
+            if n.cmpge(IVec3::ZERO).all() &&
+               n.cmple(dims).all() &&
+               !outside.contains(&n) &&
+               !is_solid(&n)
+            {
+                outside.insert(n);
+                stack.push(n);
+            }
+        }
+    }
+
+    let offsets_26 = || {
+        (-1..=1)
+            .flat_map(|dx| (-1..=1).flat_map(move |dy| (-1..=1).map(move |dz| (dx, dy, dz))))
+            .filter(|&(dx, dy, dz)| dx != 0 || dy != 0 || dz != 0)
+            .map(|(dx, dy, dz)| IVec3::new(dx, dy, dz))
+    };
+
+    for x in 0..=dims.x {
+        for y in 0..=dims.y {
+            for z in 0..=dims.z {
+                let k = IVec3::new(x, y, z);
+                if occ.contains_key(&k) {
+                    continue;
+                }
+
+                let centre = min + (k.as_vec3() + Vec3::splat(0.5)) * cell_size;
+
+                let want_positive = outside.contains(&k);
+
+                let mut best_mag: Option<f32> = None;
+                for off in offsets_26() {
+                    if let Some(c) = occ.get(&(k + off)) {
+                        if c.dist.is_sign_positive() != want_positive {
+                            continue;
+                        }
+
+                        let cand = c.dist.abs() + (centre - c.pos).length();
+                        best_mag = Some(match best_mag {
+                            Some(b) => b.min(cand),
+                            None => cand,
+                        });
+                    }
+                }
+
+                let magnitude = best_mag.unwrap_or(0.5 * cell_size);
+                let signed = if want_positive { magnitude } else { -magnitude };
+
+                agg.pts.push(GpuPt {
+                    pos_dist: centre.extend(signed),
+                });
+            }
+        }
+    }
+
+    info!("SDF aggregate: {} points after uniform sampling", agg.pts.len());
 }
 
 
@@ -443,12 +611,12 @@ fn upload_sdf(
         const MIN_SCALE: f32 = 0.005;
         const MAX_SCALE: f32 = 0.02;
 
-        let max_abs = agg.pts
+        let max_abs = agg.pts[..agg.uniform_start]
             .iter()
             .map(|p| p.pos_dist.w.abs())
             .fold(1e-5f32, f32::max);
 
-        let gaussians: Vec<Gaussian3d> = agg.pts
+        let gaussians: Vec<Gaussian3d> = agg.pts//[..agg.uniform_start]
             .iter()
             .map(|pt| {
                 let dist = pt.pos_dist.w;
@@ -456,7 +624,7 @@ fn upload_sdf(
                 let mag_n = signed_n.abs().sqrt();
 
                 let s = MAX_SCALE - mag_n * (MAX_SCALE - MIN_SCALE);
-                let opacity = 1.0 - mag_n;
+                let opacity = 1.0;// - mag_n;
 
                 Gaussian3d {
                     rotation: [1.0, 0.0, 0.0, 0.0].into(),