Renderer: vendor live-bridge scripts; GPU backend unblocked (60fps)

- emulator/render-bridge/: the pod->Dave's-renderer live bridge (rescued
  from session scratchpad): live_bridge.py (first-person cam from the 0x1f
  pose, arrow-key eye-height trim), fp/chase offline renders, fifobridge,
  diagnostics, gauge_arena[_sound].conf, and launch_pod.ps1 (one-command
  pod+bridge restart: pentapus VPX_EXPLODE + AWE32 sound + GL bridge).
- _backend.py: renderer selection -- vrview_gl.GLRenderer (moderngl) by
  default, VRVIEW_SOFT=1 for the software reference; backend-agnostic
  frame save via last_frame.
- GPU backend runs on side-by-side CPython 3.13 (moderngl/glcontext cp313
  wheels; no MSVC needed): 63fps headless / 60.7 windowed vs 21fps software
  on the same scene, and the GL path also draws the vertex-alpha cloud dome.
- vrview.py: VRVIEW_GAMMA env selects DAC gamma (1.25 live-renderer legacy
  vs 1.7 per the original GAMMA.C) for A/B against the real pod.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

dpl3-revive/patha/vrview.py

@@ -430,6 +430,10 @@ class Renderer:
         self._last_ms = 0.0
         self._psys = {}              # SPECIALFX particle pools by code
         self.light = np.array([0.3, 0.8, 0.5]); self.light /= np.linalg.norm(self.light)
+        # Division 10-bit-DAC output gamma. GAMMA.C (the original source) builds
+        # out = (i/255)^(1/1.7); this live renderer historically used 1.25.
+        # VRVIEW_GAMMA selects it so the two can be compared against the real pod.
+        self.gamma = float(os.environ.get('VRVIEW_GAMMA', '1.25'))
 
     def dcs_matrix(self, board, h):
         m = None
@@ -752,8 +756,9 @@ class Renderer:
                         self.skip / 60.0)
 
         arr = np.clip(img, 0, 255).astype(np.uint8)
-        # Division DAC gamma (out = in^(1/1.25)) -- match render_preview.py
+        # Division DAC output gamma (VRVIEW_GAMMA; GAMMA.C = 1.7, live-renderer
-        arr = (np.power(arr / 255.0, 1 / 1.25) * 255).astype(np.uint8)
+        # legacy = 1.25)
+        arr = (np.power(arr / 255.0, 1.0 / self.gamma) * 255).astype(np.uint8)
         surf = pg.surfarray.make_surface(np.transpose(arr, (1, 0, 2)))
         self.screen.blit(surf, (0, 0))
         pg.display.flip()

emulator/render-bridge/_backend.py

@@ -0,0 +1,41 @@
+"""Renderer backend selection for the render-bridge scripts.
+
+Default = the dpl3-revive GPU backend (vrview_gl.GLRenderer, moderngl);
+VRVIEW_SOFT=1 forces the software rasterizer (vrview.Renderer), which stays
+the debugging reference. Both share SceneCache/cam_matrix/draw/last_frame,
+so scripts only swap the class.
+
+Run under the Windows CPython with the wheels installed (py -3.13):
+    numpy pygame-ce moderngl pillow
+(the MSYS2 python has no pip; 3.14 has no moderngl/glcontext wheel yet).
+"""
+import os
+import sys
+
+sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)),
+                                '..', '..', 'dpl3-revive', 'patha'))
+
+
+def pick_renderer():
+    """Return (RendererClass, backend_name)."""
+    if os.environ.get('VRVIEW_SOFT') == '1':
+        from vrview import Renderer
+        return Renderer, 'software'
+    try:
+        from vrview_gl import GLRenderer
+        return GLRenderer, 'GL'
+    except Exception as e:
+        print(f"GL backend unavailable ({e}); using software rasterizer",
+              file=sys.stderr)
+        from vrview import Renderer
+        return Renderer, 'software'
+
+
+def save_frame(r, out):
+    """Save the last rendered frame. Works headless on both backends
+    (GL has no screen surface -- read the FBO via last_frame)."""
+    arr = r.last_frame
+    if arr is None:
+        raise RuntimeError('no frame rendered yet')
+    from PIL import Image
+    Image.fromarray(arr).save(out)

emulator/render-bridge/cam_debug.py

@@ -0,0 +1,48 @@
+import os, sys, struct
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Msg, A
+from vrview import Renderer
+
+data = open(sys.argv[1], 'rb').read()
+board = VirtualBoard()
+off = 0
+while off + 8 <= len(data):
+    if data[off:off + 4] != b'VPXM':
+        off += 1; continue
+    ln = struct.unpack_from('<I', data, off + 4)[0]
+    body = data[off + 8:off + 8 + ln]; off += 8 + ln
+    if len(body) >= 4:
+        a = struct.unpack_from('<I', body, 0)[0]
+        if a < 0x100:
+            try: board.handle(Msg(False, 0xff, a, body[4:]))
+            except Exception: pass
+
+r = Renderer(w=832, h=512)
+c = r.cache; c.maybe_rebuild(board)
+print('munga', board.munga, 'view', hex(c.view) if c.view else None,
+      'cam_chain', [hex(h) for h in c.cam_chain])
+np.set_printoptions(suppress=True)
+try:
+    cam = r.cam_matrix(board)
+    print('DAVE cam eye', cam[3, :3].round(1),
+          'back(+z)row', cam[2, :3].round(3), '(camera looks -back)')
+except Exception as e:
+    print('DAVE cam err', e)
+
+# geometry world centroid + bounds
+pts = []
+for inst in c.instances:
+    M = r.chain_matrix(board, inst['chain'])
+    if np.all(np.isfinite(M[3, :3])): pts.append(M[3, :3])
+pts = np.array(pts)
+print('GEOM centroid', pts.mean(0).round(1),
+      'min', pts.min(0).round(1), 'max', pts.max(0).round(1))
+
+# the animated vehicle poses (0x1f) -- the player camera should be one of these
+print('anim_abs vehicles:', len(board.anim_abs))
+for h, f in list(board.anim_abs.items()):
+    R = np.array(f[:9]).reshape(3, 3); t = np.array(f[9:12])
+    print('  veh', hex(h), 'pos', t.round(1),
+          'Zrow', R[2].round(3), 'is_cam_chain', h in c.cam_chain)

emulator/render-bridge/chase_render.py

@@ -0,0 +1,31 @@
+import os, sys, struct
+os.environ['VRVIEW_CHASE'] = sys.argv[3] if len(sys.argv) > 3 else '2'
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+from _backend import pick_renderer, save_frame
+from vrboard import VirtualBoard, Msg, A
+Renderer, backend = pick_renderer()
+data = open(sys.argv[1], 'rb').read()
+board = VirtualBoard()
+off = 0
+while off + 8 <= len(data):
+    if data[off:off + 4] != b'VPXM':
+        off += 1; continue
+    ln = struct.unpack_from('<I', data, off + 4)[0]
+    body = data[off + 8:off + 8 + ln]; off += 8 + ln
+    if len(body) >= 4:
+        a = struct.unpack_from('<I', body, 0)[0]
+        if a < 0x100:
+            try: board.handle(Msg(False, 0xff, a, body[4:]))
+            except Exception: pass
+r = Renderer(w=832, h=512)
+r.cache.maybe_rebuild(board)
+c = r.cache
+# how many geometries got a texture bound?
+bound = sum(1 for inst in c.instances for g in inst['geoms'] if g in c.geom_tex)
+tot = sum(len(inst['geoms']) for inst in c.instances)
+print(f"instances={len(c.instances)} geoms_total={tot} geoms_textured={bound} "
+      f"geom_tex={len(c.geom_tex)} geom_mtl={len(c.geom_mtl)} "
+      f"ambient={c.ambient.round(2).tolist()} dirlights={len(c.dirlights)}")
+r.draw(board)
+save_frame(r, sys.argv[2])
+print("wrote", sys.argv[2], f"[{backend}]")

emulator/render-bridge/diag.py

@@ -0,0 +1,15 @@
+import os,sys
+sys.path.insert(0, r"C:\VWE\TeslaRel410\dpl3-revive\patha")
+os.environ.setdefault("SDL_VIDEODRIVER","dummy")
+from vrboard import VirtualBoard, Assembler
+from decode_anim import find_framed_start
+data=open("bt8.raw.bin","rb").read()
+b=VirtualBoard(); a=Assembler(); a.feed(data[find_framed_start(data):])
+for m in a:
+    try: b.handle(m)
+    except Exception: pass
+    if b.frames>=600: break
+print("frames",b.frames,"munga",getattr(b,"munga",None))
+for attr in ("anim","anim_abs"):
+    v=getattr(b,attr,None)
+    print(attr, type(v).__name__, (len(v) if v is not None else None), (list(v)[:6] if v else None))

emulator/render-bridge/fifobridge.py

@@ -0,0 +1,82 @@
+#!/usr/bin/env python3
+"""Phase 1 core: feed OUR emulator's VPX_FIFODUMP (VPXM records = our game's
+live VelociRender wire) into the friend's virtual board + renderer. Proves our
+wire drives their renderer with no rebuild. Offline here; live = tail the file.
+
+  py fifobridge.py <file.fifodump> <out.png> [distmul]
+"""
+import os, sys, struct
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Msg, A
+from vrview import Renderer
+
+cap = sys.argv[1]
+out = sys.argv[2] if len(sys.argv) > 2 else 'fifobridge.png'
+distmul = float(sys.argv[3]) if len(sys.argv) > 3 else 1.4
+
+VALID = set(int(a) for a in A)
+
+def records(data):
+    off = 0
+    while off + 8 <= len(data):
+        if data[off:off+4] != b'VPXM':
+            off += 1; continue
+        ln = struct.unpack_from('<I', data, off+4)[0]
+        yield data[off+8:off+8+ln]
+        off += 8 + ln
+
+data = open(cap, 'rb').read()
+board = VirtualBoard()
+nrec = nfed = nskip = nerr = 0
+for body in records(data):
+    nrec += 1
+    if len(body) < 4:
+        continue
+    action = struct.unpack_from('<I', body, 0)[0]
+    if action >= 0x100:                # init-arg string / non-message bursts
+        nskip += 1; continue           # (real actions are all < 0x100, incl.
+                                        # the unnamed game ones: 0x1f, 0x2d...)
+    try:
+        board.handle(Msg(False, 0xff, action, body[4:]))
+        nfed += 1
+    except Exception:
+        nerr += 1
+print(f'records={nrec} fed={nfed} skipped={nskip} errs={nerr}')
+print(f'nodes={len(board.nodes)} geom={len(board.geom)} tex={len(board.tex)} '
+      f'anim_abs={len(getattr(board,"anim_abs",{}))} munga={getattr(board,"munga",None)}')
+
+r = Renderer(w=832, h=512)
+r.cache.maybe_rebuild(board)
+c = r.cache
+print(f'instances={len(c.instances)}')
+
+# synthetic aerial camera framing all decoded geometry + lift far clip
+mins = np.array([np.inf]*3); maxs = np.array([-np.inf]*3); nv = 0
+for inst in c.instances:
+    M = r.chain_matrix(board, inst['chain'])
+    for gh in inst['geoms']:
+        mesh = c._mesh(board, gh)
+        if not mesh or 'pos' not in mesh or len(mesh['pos']) == 0:
+            continue
+        pw = mesh['pos'] @ M[:3, :3] + M[3, :3]
+        mins = np.minimum(mins, pw.min(0)); maxs = np.maximum(maxs, pw.max(0)); nv += len(pw)
+if not np.isfinite(mins).all():
+    print('NO renderable geometry'); sys.exit(1)
+center = (mins+maxs)/2; radius = float(np.linalg.norm(maxs-mins)/2) or 400.0
+print(f'bounds min={mins.round(1)} max={maxs.round(1)} center={center.round(1)} radius={radius:.1f} verts={nv}')
+
+eye = center + np.array([radius*0.5, -radius*0.8, radius*distmul])
+fwd = center - eye; fwd /= np.linalg.norm(fwd); back = -fwd
+right = np.cross([0.0,-1.0,0.0], back); right /= np.linalg.norm(right)
+up = np.cross(back, right)
+M = np.eye(4); M[0,:3],M[1,:3],M[2,:3],M[3,:3] = right, up, back, eye
+r.cam_matrix = lambda _b, _M=M: _M
+if c.view is not None and c.view in board.nodes:
+    vb = bytearray(board.nodes[c.view].get('body') or b'')
+    if len(vb) >= 56:
+        struct.pack_into('<f', vb, 52, 1.0e6); board.nodes[c.view]['body'] = bytes(vb)
+r.draw(board)
+r.pygame.image.save(r.screen, out)
+print('wrote', out)

emulator/render-bridge/fp_render.py

@@ -0,0 +1,53 @@
+"""First-person cockpit camera from the player vehicle's 0x1f pose.
+  py fp_render.py <fifodump> <out.png> [upoff] [worldup_y] [fwd_sign]"""
+import os, sys, struct
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from _backend import pick_renderer, save_frame
+from vrboard import VirtualBoard, Msg, A
+Renderer, backend = pick_renderer()
+
+data = open(sys.argv[1], 'rb').read()
+out = sys.argv[2]
+upoff = float(sys.argv[3]) if len(sys.argv) > 3 else 8.0
+wuy   = float(sys.argv[4]) if len(sys.argv) > 4 else 1.0     # worldup y sign
+fsign = float(sys.argv[5]) if len(sys.argv) > 5 else 1.0     # nose sign
+board = VirtualBoard()
+off = 0
+while off + 8 <= len(data):
+    if data[off:off + 4] != b'VPXM':
+        off += 1; continue
+    ln = struct.unpack_from('<I', data, off + 4)[0]
+    body = data[off + 8:off + 8 + ln]; off += 8 + ln
+    if len(body) >= 4:
+        a = struct.unpack_from('<I', body, 0)[0]
+        if a < 0x100:
+            try: board.handle(Msg(False, 0xff, a, body[4:]))
+            except Exception: pass
+
+r = Renderer(w=832, h=512)
+c = r.cache; c.maybe_rebuild(board)
+anim = board.anim_abs
+chain = c.cam_chain
+h = None
+if chain and chain[-1] in anim:
+    h = chain[-1]
+elif anim:
+    h = max(anim, key=lambda k: float(np.abs(np.array(anim[k][9:12])).sum()))
+if h is None:
+    print("no animated vehicle"); sys.exit(1)
+f = anim[h]
+R = np.array(f[:9]).reshape(3, 3); t = np.array(f[9:12])
+fwd = fsign * R[2]                       # vehicle nose (+Z), sign-tunable
+fwd = fwd / max(np.linalg.norm(fwd), 1e-6)
+worldup = np.array([0.0, wuy, 0.0])
+eye = t + worldup * upoff                # up out of the cockpit
+back = -fwd
+right = np.cross(worldup, back); right /= max(np.linalg.norm(right), 1e-6)
+up = np.cross(back, right)
+M = np.eye(4)
+M[0, :3], M[1, :3], M[2, :3], M[3, :3] = right, up, back, eye
+r.cam_matrix = lambda _b, _M=M: _M
+r.draw(board)
+save_frame(r, out)
+print(f"wrote {out} [{backend}]  veh={hex(h)} eye={eye.round(1)} fwd={fwd.round(2)}")

emulator/render-bridge/gauge_arena.conf

@@ -0,0 +1,28 @@
+[sdl]
+output=opengl
+priority=higher,higher
+[dosbox]
+memsize=32
+machine=svga_s3
+[cpu]
+core=dynamic
+cputype=pentium
+cycles=max
+[serial]
+serial1=directserial realport:COM1 rxpollus:100 rxburst:16
+serial2=disabled
+[autoexec]
+mount c "C:\VWE\TeslaRel410\ALPHA_1"
+c:
+cd \REL410\BT
+set VIDEOFORMAT=svga
+set BLASTER=A220 I5 D1 H5 P330 T6
+set TEMP=c:\
+set HEAPSIZE=15000000
+set L4GAUGE=640x480x16
+call setenv.bat r s n g
+32rtm.exe -x
+btl4opt.exe -egg testarn.egg
+32rtm.exe -u
+echo ALPHA1-RUN-DONE
+pause

emulator/render-bridge/gauge_arena_sound.conf

@@ -0,0 +1,57 @@
+[sdl]
+output=opengl
+# higher,higher not highest: HIGH_PRIORITY_CLASS starved the host desktop;
+# with the retry patches a rare dropout self-recovers (see gauge_rio.conf).
+priority=higher,higher
+[dosbox]
+memsize=32
+machine=svga_s3
+[cpu]
+core=dynamic
+cputype=pentium
+cycles=max
+[sblaster]
+sbtype=sb16
+sbbase=220
+irq=5
+dma=1
+hdma=5
+[mixer]
+# match the EMU8000s' native rate (no resample) and buffer ~60ms so brief
+# emulation-thread stalls (RIO retry recovery) don't audibly chop
+rate=44100
+blocksize=1024
+prebuffer=60
+[serial]
+# RIO on COM1 with the low-latency options (rxpollus/rxburst) so the board's
+# few-ms ACK deadline is met; plasma COM2 later.
+serial1=directserial realport:COM1 rxpollus:100 rxburst:16
+serial2=disabled
+[autoexec]
+mount c "C:\VWE\TeslaRel410\ALPHA_1"
+c:
+cd \REL410\BT
+set VIDEOFORMAT=svga
+rem production pod card init (PARAMETR.BAT:181-186): DIAGNOSE + AWEUTIL per
+rem card -- AWEUTIL /S does the EMU8000 bring-up and DRAM detect the HMI SOS
+rem driver relies on; skipping it left the cards uninitialized (silent).
+rem aweutil /s SKIPPED for now: it verifies the AWE32 GM ROM, which the
+rem emulated cards lack (hangs in a retry loop) -- restore once the ROM is
+rem dumped from a real card. diagnose /s kept (passes, sets mixer config).
+set BLASTER=A220 I5 D1 H5 P330 T6
+c:\sb16\diagnose /s
+set BLASTER=A240 I7 D3 H6 P300 T6
+c:\sb16\diagnose /s
+set BLASTER=A220 I5 D1 H5 P330 T6
+set TEMP=c:\
+rem arena1 city mission (TESTARN.EGG: map=arena1, time=day) with the RIO
+rem attached; stdout redirected so mission-load progress survives kills.
+set HEAPSIZE=15000000
+set L4GAUGE=640x480x16
+call setenv.bat r s s g
+32rtm.exe -x
+btl4opt.exe -egg testarn.egg
+32rtm.exe -u
+echo ALPHA1-RUN-DONE
+pause
+

emulator/render-bridge/ground_check.py

@@ -0,0 +1,56 @@
+import os, sys, struct
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Msg, A
+from vrview import Renderer
+
+data = open(sys.argv[1], 'rb').read()
+board = VirtualBoard()
+off = 0
+while off + 8 <= len(data):
+    if data[off:off + 4] != b'VPXM':
+        off += 1; continue
+    ln = struct.unpack_from('<I', data, off + 4)[0]
+    body = data[off + 8:off + 8 + ln]; off += 8 + ln
+    if len(body) >= 4:
+        a = struct.unpack_from('<I', body, 0)[0]
+        if a < 0x100:
+            try: board.handle(Msg(False, 0xff, a, body[4:]))
+            except Exception: pass
+
+r = Renderer(w=832, h=512); c = r.cache; c.maybe_rebuild(board)
+anim = board.anim_abs; chain = c.cam_chain
+h = chain[-1] if (chain and chain[-1] in anim) else \
+    max(anim, key=lambda k: float(np.abs(np.array(anim[k][9:12])).sum()))
+mech = np.array(anim[h][9:12])
+print('MECH pos', mech.round(1))
+if c.view and c.view in board.nodes:
+    vb = board.nodes[c.view]['body'] or b''
+    if len(vb) >= 96:
+        f = struct.unpack_from('<24f', vb, 0)
+        print('VIEW hither(near)=%.1f yon(far)=%.1f zeye=%.2f imageplane x[%.2f,%.2f] y[%.2f,%.2f]'
+              % (f[12], f[13], f[9], f[5], f[7], f[6], f[8]))
+
+allpos = []
+for inst in c.instances:
+    M = r.chain_matrix(board, inst['chain'])
+    for g in inst['geoms']:
+        mesh = c._mesh(board, g)
+        if not mesh or 'pos' not in mesh or len(mesh['pos']) == 0:
+            continue
+        pw = mesh['pos'] @ M[:3, :3] + M[3, :3]
+        allpos.append(pw)
+allpos = np.concatenate(allpos)
+print('ALL verts: %d  Y[min=%.1f max=%.1f median=%.1f]'
+      % (len(allpos), allpos[:, 1].min(), allpos[:, 1].max(), np.median(allpos[:, 1])))
+
+# geometry near the mech in the XZ plane (would be the ground under/around it)
+d = np.sqrt((allpos[:, 0] - mech[0])**2 + (allpos[:, 2] - mech[2])**2)
+for rad in (100, 300, 800, 2000):
+    near = allpos[d < rad]
+    if len(near):
+        print('  within %4d of mech: %6d verts  Y[%.1f..%.1f] med %.1f'
+              % (rad, len(near), near[:, 1].min(), near[:, 1].max(), np.median(near[:, 1])))
+    else:
+        print('  within %4d of mech: 0 verts (NO geometry here)' % rad)

emulator/render-bridge/launch_pod.ps1

@@ -0,0 +1,67 @@
+# Launch the full pod experience: DOSBox-X pod (pentapus 7-display explode
+# mode + dual-AWE32 sound) + Dave's GL renderer bridged to the live wire.
+#
+#   .\launch_pod.ps1                 # restart pod + bridge (stops previous run)
+#   .\launch_pod.ps1 -NoSound       # skip AWE32 (saves the ~4 min SBK upload)
+#   .\launch_pod.ps1 -NoBridge      # pod only
+#   .\launch_pod.ps1 -Conf <path>   # different mission/conf
+#
+# Pentapus mode (VPX_EXPLODE=1): all 7 cockpit displays as desktop windows --
+# 5 mono MFDs (green phosphor), portrait radar, Division main -- needs a wide
+# desktop (~2830px). Per-window override: VPX_WIN<g>/VPX_MAIN = "x,y[,w,h]".
+# Eye height for the bridge camera: FP_UPOFF env (see live_bridge.py).
+param(
+    [string]$Conf = "$PSScriptRoot\gauge_arena_sound.conf",
+    [string]$Work = "$env:LOCALAPPDATA\Temp\vwe-pod",
+    [switch]$NoBridge,
+    [switch]$NoSound
+)
+$ErrorActionPreference = 'Stop'
+New-Item -ItemType Directory -Force $Work | Out-Null
+
+# a restart means the previous run dies first (COM1 + the fifodump are exclusive)
+foreach ($pidfile in "$Work\pod_pid.txt", "$Work\bridge_pid.txt") {
+    if (Test-Path $pidfile) {
+        $old = Get-Process -Id (Get-Content $pidfile) -ErrorAction SilentlyContinue
+        if ($old) { Write-Host "stopping previous $([IO.Path]::GetFileNameWithoutExtension($pidfile)) ($($old.Id))"; $old | Stop-Process -Force }
+    }
+}
+# the bridge pid file records the py.exe wrapper; its python child holds the
+# fifodump open (blocks the Remove-Item below) -- sweep it by command line
+Get-CimInstance Win32_Process -Filter "Name like 'py%'" |
+    Where-Object { $_.CommandLine -match 'live_bridge' } |
+    ForEach-Object { Stop-Process -Id $_.ProcessId -Force -ErrorAction SilentlyContinue }
+# fresh wire artifacts each run (the RIO tap APPENDS across runs otherwise --
+# stale init sequences from the previous run poison diagnosis)
+Remove-Item "$Work\live.fifodump", "$Work\riotap.txt" -ErrorAction SilentlyContinue
+
+$env:VPXLOG       = "$Work\vpxresp.txt"
+$env:VPX_RESPOND  = '1'
+$env:VPX_RENDER   = '1'
+$env:VPX_EXPLODE  = '1'                    # pentapus: 7 cockpit displays
+$env:VPX_DUMPDIR  = $Work
+$env:VPX_FIFODUMP = "$Work\live.fifodump"
+$env:RIO_TAP      = "$Work\riotap.txt"
+if ($NoSound) {
+    Remove-Item Env:VWE_AWE32, Env:VWE_AWE_ROM -ErrorAction SilentlyContinue
+} else {
+    $env:VWE_AWE32   = '1'
+    $env:VWE_AWE_ROM = (Resolve-Path "$PSScriptRoot\..\roms\awe32.raw").Path
+}
+
+$dosbox = (Resolve-Path "$PSScriptRoot\..\src\src\dosbox-x.exe").Path
+$p = Start-Process $dosbox -ArgumentList '-conf', $Conf `
+    -RedirectStandardError "$Work\pod_err.txt" `
+    -RedirectStandardOutput "$Work\pod_out.txt" -PassThru
+$p.Id | Set-Content "$Work\pod_pid.txt"
+Write-Host "pod PID $($p.Id)  conf=$([IO.Path]::GetFileName($Conf))  work=$Work"
+if (-not $NoSound) { Write-Host "sound ON: boot adds ~4 min for the SoundFont upload" }
+
+if (-not $NoBridge) {
+    # live_bridge waits for the fifodump itself; start it right away
+    $b = Start-Process py -ArgumentList '-3.13', "$PSScriptRoot\live_bridge.py", "$Work\live.fifodump" `
+        -RedirectStandardError "$Work\bridge_err.txt" `
+        -RedirectStandardOutput "$Work\bridge_out.txt" -PassThru
+    $b.Id | Set-Content "$Work\bridge_pid.txt"
+    Write-Host "bridge PID $($b.Id) [GL]  (arrows in its window tune eye height)"
+}

emulator/render-bridge/live_bridge.py

@@ -0,0 +1,136 @@
+#!/usr/bin/env python3
+"""Wire Dave's dpl3-revive renderer into our LIVE running pod.
+
+Tails our device's VPX_FIFODUMP (VPXM records = the game's live VelociRender
+wire), feeds each message into Dave's VirtualBoard, and renders every
+draw_scene with his vrview software rasterizer in a real window -- using the
+game's own camera (the player's RIO input drives it).
+
+  py live_bridge.py <live.fifodump>
+"""
+import os, sys, struct, time
+import numpy as np
+from _backend import pick_renderer
+from vrboard import VirtualBoard, Msg, A
+Renderer, backend = pick_renderer()
+
+path = sys.argv[1]
+board = VirtualBoard()
+board.munga = False
+r = Renderer(w=832, h=512,
+             title=f"dpl3-revive renderer (Dave) -- LIVE from our pod [{backend}]")
+r.fps = int(os.environ.get('BRIDGE_FPS', '60' if backend == 'GL' else '30'))
+# eye height above the mech origin (cockpit). Mutable: UP/DOWN arrows = +-5,
+# LEFT/RIGHT = +-1, live (the render window must be focused). 35 was tuned
+# before the ground rendered and is way too high against real terrain.
+UPOFF = [float(os.environ.get('FP_UPOFF', '12'))]
+
+def fp_cam(board, cache):
+    """First-person cockpit camera from the player vehicle's 0x1f pose: eye at
+    the mech (+up), looking along its nose (+Z row), y-up world. Beats Dave's
+    11-DCS cam chain (which renders sky through our wire's convention)."""
+    anim = board.anim_abs
+    chain = cache.cam_chain
+    h = None
+    if chain and chain[-1] in anim:
+        h = chain[-1]
+    elif anim:
+        h = max(anim, key=lambda k: float(np.abs(np.array(anim[k][9:12])).sum()))
+    if h is None:
+        return None
+    f = anim[h]
+    R = np.array(f[:9]).reshape(3, 3)
+    t = np.array(f[9:12])
+    # look along the mech's travel direction. The +Z row rendered BACKWARD
+    # (user: "geometry moving away as I drive"), so forward = -Z row.
+    # FP_FWD_SIGN flips it back if needed.
+    fwd = float(os.environ.get('FP_FWD_SIGN', '-1')) * R[2]
+    n = np.linalg.norm(fwd)
+    if n < 1e-6:
+        return None
+    fwd = fwd / n
+    worldup = np.array([0.0, 1.0, 0.0])
+    eye = t + worldup * UPOFF[0]
+    back = -fwd
+    right = np.cross(worldup, back)
+    rn = np.linalg.norm(right)
+    if rn < 1e-6:
+        return None
+    right /= rn
+    up = np.cross(back, right)
+    # FP_RIGHT_SIGN=-1 mirrors the image X (verified: exact fliplr). Tried as a
+    # yaw fix 2026-07-06 but the inverted-yaw report was about the NATIVE C++
+    # render, not this bridge -- the mirror just flipped the arena layout and
+    # made the bridge yaw wrong too. Keep +1 (the validated look).
+    right *= float(os.environ.get('FP_RIGHT_SIGN', '1'))
+    M = np.eye(4)
+    M[0, :3], M[1, :3], M[2, :3], M[3, :3] = right, up, back, eye
+    return M
+
+def render(board):
+    try:
+        pg = r.pygame
+        for ev in pg.event.get():            # drain before r.draw; tune eye height
+            if ev.type == pg.QUIT:
+                raise KeyboardInterrupt
+            if ev.type == pg.KEYDOWN:
+                step = {pg.K_UP: 5, pg.K_DOWN: -5,
+                        pg.K_RIGHT: 1, pg.K_LEFT: -1}.get(ev.key)
+                if step:
+                    UPOFF[0] = max(0.0, UPOFF[0] + step)
+                    print(f"eye height = {UPOFF[0]:.0f}", flush=True)
+        r.cache.maybe_rebuild(board)
+        M = fp_cam(board, r.cache)
+        if M is not None:
+            r.cam_matrix = lambda _b, _M=M: _M
+        r.draw(board)
+    except KeyboardInterrupt:
+        raise
+    except Exception:
+        pass
+
+print(f"waiting for {path} ...")
+while not os.path.exists(path):
+    time.sleep(0.2)
+f = open(path, 'rb')
+print("tailing live wire -> Dave's renderer; drive the pod")
+
+pending = b''
+frames = 0
+last_report = time.time()
+while True:
+    chunk = f.read(1 << 20)
+    if chunk:
+        pending += chunk
+    off = 0
+    n = len(pending)
+    while n - off >= 8:
+        if pending[off:off + 4] != b'VPXM':
+            off += 1
+            continue
+        ln = struct.unpack_from('<I', pending, off + 4)[0]
+        if n - off < 8 + ln:
+            break                       # incomplete record: wait for more
+        body = pending[off + 8:off + 8 + ln]
+        off += 8 + ln
+        if len(body) >= 4:
+            action = struct.unpack_from('<I', body, 0)[0]
+            if action < 0x100:
+                try:
+                    board.handle(Msg(False, 0xff, action, body[4:]))
+                except Exception:
+                    pass
+                if action == 9:          # draw_scene -> present a frame
+                    render(board)
+                    frames += 1
+    pending = pending[off:]
+    if not chunk:
+        try: r.pump()
+        except KeyboardInterrupt: break
+        except Exception: pass
+        time.sleep(0.02)
+    if time.time() - last_report > 4:
+        last_report = time.time()
+        print(f"frames={frames} nodes={len(board.nodes)} "
+              f"uploads={len(board.uploads)} tex={len(board.tex)} "
+              f"munga={board.munga} anim_abs={len(board.anim_abs)}")

emulator/render-bridge/orbit.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""Show OUR BTL4OPT arena (decoded by the friend's board from a captured wire
+stream) in a real on-screen window, orbiting a synthetic camera around it.
+Decode once, then orbit forever; close the window to stop."""
+import os, sys, struct, math
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+# real window (no SDL dummy)
+import numpy as np
+from vrboard import VirtualBoard, Assembler
+from decode_anim import find_framed_start
+from vrview import Renderer
+
+cap  = sys.argv[1] if len(sys.argv) > 1 else r'C:\VWE\TeslaRel410\dpl3-revive\patha\bt8.raw.bin'
+upto = int(sys.argv[2]) if len(sys.argv) > 2 else 800
+W, H = 720, 450
+
+data = open(cap, 'rb').read()
+board = VirtualBoard()
+asm = Assembler(); asm.feed(data[find_framed_start(data):])
+for m in asm:
+    try: board.handle(m)
+    except Exception: pass
+    if board.frames >= upto: break
+print(f'decoded: nodes={len(board.nodes)} frames={board.frames}')
+
+W, H = 560, 350
+r = Renderer(w=W, h=H, title='VWE pod - Division render (dpl3-revive) - our BTL4OPT arena')
+r.cache.maybe_rebuild(board)
+c = r.cache
+
+# aim at the mechs (anim_abs vehicle positions); ignore ones still at origin
+mechs = np.array([np.array(f[9:12]) for f in board.anim_abs.values()])
+real = mechs[np.abs(mechs).sum(1) > 1.0]
+center = real.mean(0) if len(real) else np.zeros(3)
+radius = 480.0     # close orbit around the mech/dome cluster
+print(f'mechs={mechs.round(0).tolist()} target={center.round(1)} radius={radius}')
+
+# lift the far clip so the whole arena renders (yon = view float idx 13, off 52)
+if c.view is not None and c.view in board.nodes:
+    vb = bytearray(board.nodes[c.view].get('body') or b'')
+    if len(vb) >= 56:
+        struct.pack_into('<f', vb, 52, 1.0e6)
+        board.nodes[c.view]['body'] = bytes(vb)
+
+def cam_at(angle_deg):
+    a = math.radians(angle_deg)
+    dist = radius * 2.2
+    # y-down world: negative y = up, so raise the eye with -height
+    eye = center + np.array([math.sin(a) * dist, -radius * 0.7, math.cos(a) * dist])
+    fwd = center - eye; fwd /= max(np.linalg.norm(fwd), 1e-6)
+    back = -fwd
+    right = np.cross([0.0, -1.0, 0.0], back); right /= max(np.linalg.norm(right), 1e-6)
+    up = np.cross(back, right)
+    M = np.eye(4)
+    M[0, :3], M[1, :3], M[2, :3], M[3, :3] = right, up, back, eye
+    return M
+
+r.fps = 60
+ang = 0.0
+print('orbiting; close the window to stop')
+try:
+    while True:
+        M = cam_at(ang)
+        r.cam_matrix = lambda _b, _M=M: _M
+        r.draw(board)          # renders + paces
+        ang = (ang + 2.0) % 360.0
+except KeyboardInterrupt:
+    print('window closed')

emulator/render-bridge/phase0_hero.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+"""Phase 0 hero shot: replay a BTL4OPT capture, aim a synthetic camera at the
+decoded animated mechs (anim_abs), lift the far-clip so the whole arena shows."""
+import os, sys, struct
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Assembler
+from decode_anim import find_framed_start
+from vrview import Renderer
+
+cap  = sys.argv[1]
+upto = int(sys.argv[2])
+out  = sys.argv[3]
+dist = float(sys.argv[4]) if len(sys.argv) > 4 else 900.0
+high = float(sys.argv[5]) if len(sys.argv) > 5 else 350.0
+
+data = open(cap, 'rb').read()
+board = VirtualBoard()
+asm = Assembler(); asm.feed(data[find_framed_start(data):])
+for m in asm:
+    try: board.handle(m)
+    except Exception: pass
+    if board.frames >= upto: break
+
+r = Renderer(w=832, h=512)
+r.cache.maybe_rebuild(board)
+c = r.cache
+
+# aim at the centroid of the animated vehicles (the mechs)
+pts = np.array([np.array(f[9:12]) for f in board.anim_abs.values()])
+target = pts.mean(0)
+print('mech positions:'); print(pts.round(1))
+print('target', target.round(1))
+
+# camera: pulled back (+z), raised (-y is up in this y-down world)
+eye = target + np.array([dist*0.4, -high, dist])
+fwd = target - eye; fwd /= np.linalg.norm(fwd)
+back = -fwd
+worldup = np.array([0.0, -1.0, 0.0])
+right = np.cross(worldup, back); right /= np.linalg.norm(right)
+up = np.cross(back, right)
+M = np.eye(4)
+M[0,:3], M[1,:3], M[2,:3], M[3,:3] = right, up, back, eye
+r.cam_matrix = lambda _b, _M=M: _M
+
+# lift the far clip (yon = view-body float idx 13 -> byte offset 52) so the
+# whole arena renders instead of being culled at the fog wall
+if c.view is not None and c.view in board.nodes:
+    vb = bytearray(board.nodes[c.view].get('body') or b'')
+    if len(vb) >= 56:
+        struct.pack_into('<f', vb, 52, 1.0e6)   # yon
+        board.nodes[c.view]['body'] = bytes(vb)
+        print('patched yon -> 1e6')
+
+r.draw(board)
+r.pygame.image.save(r.screen, out)
+print('wrote', out)

emulator/render-bridge/phase0_render.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+"""Phase 0: replay a captured BTL4OPT VelociRender stream through the friend's
+virtual board and render the decoded world from a synthetic aerial camera
+(the game's own camera path isn't decoded yet -> singular matrix). Proves their
+renderer reconstructs OUR game's geometry+textures from the live wire.
+
+  py phase0_render.py <capture.raw.bin> <frames> <out.png> [distmul] [ymul]
+"""
+import os, sys
+PATHA = r'C:\VWE\TeslaRel410\dpl3-revive\patha'
+sys.path.insert(0, PATHA)
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Assembler
+from decode_anim import find_framed_start
+from vrview import Renderer
+
+cap  = sys.argv[1]
+upto = int(sys.argv[2]) if len(sys.argv) > 2 else 400
+out  = sys.argv[3]
+distmul = float(sys.argv[4]) if len(sys.argv) > 4 else 1.6
+ymul    = float(sys.argv[5]) if len(sys.argv) > 5 else 1.2   # +up (y-down world -> negate below)
+
+data = open(cap, 'rb').read()
+board = VirtualBoard()
+asm = Assembler(); asm.feed(data[find_framed_start(data):])
+n = 0
+for m in asm:
+    try:
+        board.handle(m)
+    except Exception as e:
+        n += 1
+    if board.frames >= upto:
+        break
+print(f'replayed frame={board.frames} nodes={len(board.nodes)} '
+      f'geom={len(board.geom)} tex={len(board.tex)} handler_errs={n}')
+
+r = Renderer(w=832, h=512)
+r.cache.maybe_rebuild(board)
+c = r.cache
+print(f'instances={len(c.instances)}')
+
+# world-space bounds over every renderable instance triangle
+mins = np.array([np.inf]*3); maxs = np.array([-np.inf]*3)
+nverts = 0
+for inst in c.instances:
+    M = r.chain_matrix(board, inst['chain'])
+    for gh in inst['geoms']:
+        mesh = c._mesh(board, gh)
+        if not mesh or 'pos' not in mesh or len(mesh['pos']) == 0:
+            continue
+        pw = mesh['pos'] @ M[:3, :3] + M[3, :3]
+        mins = np.minimum(mins, pw.min(0)); maxs = np.maximum(maxs, pw.max(0))
+        nverts += len(pw)
+if not np.isfinite(mins).all():
+    print('NO renderable geometry'); sys.exit(1)
+center = (mins + maxs) / 2.0
+size = maxs - mins
+radius = float(np.linalg.norm(size) / 2.0) or 100.0
+print(f'world bounds min={mins.round(1)} max={maxs.round(1)}')
+print(f'center={center.round(1)} size={size.round(1)} radius={radius:.1f} verts={nverts}')
+
+# synthetic aerial look-at. DPL world is y-DOWN, so "up above" = -y.
+eye = center + np.array([radius*0.6, -radius*ymul, radius*distmul])
+fwd = center - eye; fwd /= max(np.linalg.norm(fwd), 1e-6)
+back = -fwd
+worldup = np.array([0.0, -1.0, 0.0])            # y-down
+right = np.cross(worldup, back); right /= max(np.linalg.norm(right), 1e-6)
+up = np.cross(back, right)
+M = np.eye(4)
+M[0, :3], M[1, :3], M[2, :3], M[3, :3] = right, up, back, eye
+
+# widen the far clip so the aerial distance doesn't cull the whole scene
+r.cam_matrix = lambda _b, _M=M: _M
+if c.view is not None and c.view in board.nodes:
+    pass  # projection still read from the view body inside draw()
+
+r.draw(board)
+r.pygame.image.save(r.screen, out)
+print('wrote', out)

emulator/render-bridge/playback.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+"""Play a captured BTL4OPT VelociRender stream back through the friend's board
++ software renderer in a REAL on-screen window (chase cam follows a mech).
+Loops forever; close the window to stop.
+
+  py playback.py [capture.raw.bin] [WxH] [chase]
+"""
+import os, sys, time
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+# real window: do NOT set SDL_VIDEODRIVER=dummy
+cap  = sys.argv[1] if len(sys.argv) > 1 else r'C:\VWE\TeslaRel410\dpl3-revive\patha\bt8.raw.bin'
+size = sys.argv[2] if len(sys.argv) > 2 else '640x400'
+os.environ['VRVIEW_CHASE'] = sys.argv[3] if len(sys.argv) > 3 else '2'
+W, H = (int(x) for x in size.lower().split('x'))
+
+import numpy as np
+from vrboard import VirtualBoard, Assembler, A
+from decode_anim import find_framed_start
+from vrview import Renderer
+
+data = open(cap, 'rb').read()
+start = find_framed_start(data)
+r = Renderer(w=W, h=H,
+             title='VWE pod - Division render (dpl3-revive board) - our BTL4OPT arena')
+r.fps = 30
+
+print(f'playing {cap} ({len(data)} bytes) in a {W}x{H} window; close it to stop')
+try:
+    while True:                       # loop the capture
+        board = VirtualBoard(); board._view = r
+        asm = Assembler(); asm.feed(data[start:])
+        drew = 0
+        for m in asm:
+            try:
+                board.handle(m)
+            except Exception:
+                pass
+            if (not m.iserver) and m.action == A.draw_scene:
+                r.draw(board)         # renders (chase cam) + paces to fps
+                drew += 1
+        print(f'  looped: {drew} frames drawn, restarting')
+except KeyboardInterrupt:
+    print('window closed')

emulator/render-bridge/topdown.py

@@ -0,0 +1,45 @@
+import os, sys, struct
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Msg, A
+from vrview import Renderer
+
+data = open(sys.argv[1], 'rb').read()
+board = VirtualBoard()
+off = 0
+while off + 8 <= len(data):
+    if data[off:off + 4] != b'VPXM':
+        off += 1; continue
+    ln = struct.unpack_from('<I', data, off + 4)[0]
+    body = data[off + 8:off + 8 + ln]; off += 8 + ln
+    if len(body) >= 4:
+        a = struct.unpack_from('<I', body, 0)[0]
+        if a < 0x100:
+            try: board.handle(Msg(False, 0xff, a, body[4:]))
+            except Exception: pass
+
+r = Renderer(w=832, h=512); c = r.cache; c.maybe_rebuild(board)
+anim = board.anim_abs; chain = c.cam_chain
+h = chain[-1] if (chain and chain[-1] in anim) else \
+    max(anim, key=lambda k: float(np.abs(np.array(anim[k][9:12])).sum()))
+mech = np.array(anim[h][9:12])
+updir = float(sys.argv[3]) if len(sys.argv) > 3 else 1.0   # +1 or -1 for up axis
+dist  = float(sys.argv[4]) if len(sys.argv) > 4 else 900.0
+# camera high above the mech, looking straight down; 'north' = +z as screen up
+eye = mech + np.array([0.0, updir * dist, 0.0])
+back = np.array([0.0, updir, 0.0])              # look -back = down
+worldref = np.array([0.0, 0.0, 1.0])
+right = np.cross(worldref, back); right /= max(np.linalg.norm(right), 1e-6)
+up = np.cross(back, right)
+M = np.eye(4); M[0, :3], M[1, :3], M[2, :3], M[3, :3] = right, up, back, eye
+r.cam_matrix = lambda _b, _M=M: _M
+# widen far clip so the whole area shows
+if c.view and c.view in board.nodes:
+    vb = bytearray(board.nodes[c.view].get('body') or b'')
+    if len(vb) >= 56:
+        struct.pack_into('<f', vb, 52, 1.0e6)
+        board.nodes[c.view]['body'] = bytes(vb)
+r.draw(board)
+r.pygame.image.save(r.screen, sys.argv[2])
+print(f"wrote {sys.argv[2]}  mech={mech.round(1)} eye={eye.round(1)} up={updir}")