[Interactive Drive] Add physics via Physx

[ArielG-NV]

Fixes: #313
Changes:

• Added physx to drive the backend of physics. This requires maintaining our own physx python bindings.
• Removed Vulkan backend from ludus-renderer due to significant overhaul causing this backend to be a maintenance burden that requires a complete rewrite. If there is need for the backend in the future we will just rewrite the code then.
• Physics are generally obeying physx as the main-controller, but some hacks are added to prevent out-of-distribution behavior (yaw-lock on vehicles, speed lock on non-ego vehicles, etc...)
• Changed the BEV render to be an orthographic top-down view for reasons that it makes driving+navigation easier. Added a green car to identify the ego on the BEV.
• Made all collision logic (and other game-like-frills) under the --game-mode flag for the interactive-drive demos
• Added a new view when clicking 3, a physx-debug view. This view enabled viewing the colliders we setup on the backend of physx: vehicles, pedestrians, road-boundaries as walls, etc....
• Added a visual-flare when hitting/getting-hit by objects with enough force.
• Tried to fit all objects into a very 'hacked-up' scene graph structure for ease of future feature additions

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[ArielG-NV]

/ok to test

[copy-pr-bot]

/ok to test

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[greptile-apps]

Greptile Summary

The PR adds a PhysX-backed object graph and collision simulation to Interactive Drive, removes the Vulkan renderer, and updates the CUDA renderer, configuration, visualization, documentation, and tests.

• Adds native PhysX bindings, scene synchronization, collision handling, debug visualization, and collision flares.
• Makes game-like collision behavior opt-in through --game-mode.
• Reworks BEV rendering and dynamic scene integration.
• Removes the Vulkan backend and its associated shaders, bindings, examples, and tests.

Confidence Score: 5/5

The PR appears safe to merge because the previously reported buffer-lifetime and game-mode-default failures are both resolved.

No blocking failure remains.

Important Files Changed

Filename	Overview
integrations/omnidreams/ludus-renderer/ludus_renderer/_cpp/physx/bindings.cpp	Adds the native PhysX scene bindings and now correctly anchors exposed NumPy buffers to their NativeScene owner.
integrations/omnidreams/ludus-renderer/ludus_renderer/physx.py	Implements the Python-facing PhysX world lifecycle, synchronization, and fixed-capacity state-buffer interface.
integrations/omnidreams/omnidreams/interactive_drive/config.py	Centralizes game-mode defaults so programmatic and CLI construction consistently disable game-like behavior unless requested.
integrations/omnidreams/omnidreams/interactive_drive/simulation/game_physics.py	Integrates collision-enabled PhysX simulation and game-mode-controlled behavior into Interactive Drive.
integrations/omnidreams/ludus-renderer/ludus_renderer/_cpp/bindings/torch_rasterize_cuda.cpp	Extends and synchronizes the CUDA timestamped-rendering path while adding stricter tensor and scene metadata validation.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  Input[Keyboard / controller] --> App[Interactive Drive app]
  App --> Config[AppConfig]
  Config -->|game mode enabled| Physics[PhysXWorld]
  App --> Graph[PhysicsObjectGraph]
  Graph --> Physics
  Physics --> State[Native state buffers]
  State --> Scene[MutableObjectSceneBuffer]
  Scene --> CUDA[CUDA renderer]
  CUDA --> Views[Camera / BEV / debug views]
  Physics --> Effects[Collision events and visual flare]

Loading

_{Reviews (6): Last reviewed commit: "clean up readme" | Re-trigger Greptile}

[ArielG-NV]

/ok to test b4b2d3e

[ArielG-NV]

/ok to test a5f9ead

[ArielG-NV]

/ok to test 79c8053

[ArielG-NV]

/ok to test 69c5f6e

[ArielG-NV]

/ok to test e6b1e6f

[jarcherNV]

LGTM

[ArielG-NV]

cache invalidation for ludus renderer physx builds requires hardening (more eager to delete), making pr into draft. will likely close and branch off with fixes.

[ArielG-NV]

same as #430