mosure · mosure · Jul 18, 2025 · Jul 18, 2025 · Jul 18, 2025 · Jul 18, 2025
diff --git a/Cargo.lock b/Cargo.lock
diff --git 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",
 ]
@@ -79,16 +82,18 @@ 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"
 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
@@ -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
@@ -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
@@ -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
@@ -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);