Merge branch 'main' into docs/lcg

Author: cieplypolar

apps/typegpu-docs/public/assets/genetic-car/car.png

@@ -0,0 +1,320 @@
+import { randf } from '@typegpu/noise';
+import tgpu, { d, std } from 'typegpu';
+import type { TgpuRoot, TgpuUniform } from 'typegpu';
+
+export const MAX_POP = 65536;
+export const DEFAULT_POP = 8192;
+
+export const CarState = d.struct({
+  position: d.vec2f,
+  angle: d.f32,
+  alive: d.u32,
+  progress: d.f32,
+  speed: d.f32,
+  angVel: d.f32,
+  aliveSteps: d.u32,
+  stallSteps: d.u32,
+});
+
+export const FitnessArray = d.arrayOf(d.f32, MAX_POP);
+
+export const InputLayer = d.struct({
+  wA: d.mat4x4f, // inputs[0..3]
+  wB: d.mat4x4f, // inputs[4..7]
+  wC: d.mat4x4f, // inputs[8..11]
+  bias: d.vec4f,
+});
+
+export const DenseLayer = d.struct({
+  w: d.mat4x4f,
+  bias: d.vec4f,
+});
+
+export const OutputLayer = d.struct({
+  steer: d.vec4f,
+  throttle: d.vec4f,
+  bias: d.vec2f,
+});
+
+export const Genome = d.struct({
+  h1: InputLayer,
+  h2: DenseLayer,
+  out: OutputLayer,
+});
+
+export const SimParams = d.struct({
+  dt: d.f32,
+  aspect: d.f32,
+  generation: d.f32,
+  population: d.u32,
+  maxSpeed: d.f32,
+  accel: d.f32,
+  turnRate: d.f32,
+  drag: d.f32,
+  sensorDistance: d.f32,
+  mutationRate: d.f32,
+  mutationStrength: d.f32,
+  carSize: d.f32,
+  trackScale: d.f32,
+  trackLength: d.f32,
+  spawnX: d.f32,
+  spawnY: d.f32,
+  spawnAngle: d.f32,
+  stepsPerDispatch: d.u32,
+});
+
+export const CarStateArray = d.arrayOf(CarState, MAX_POP);
+export const GenomeArray = d.arrayOf(Genome, MAX_POP);
+export const CarStateLayout = d.arrayOf(CarState);
+
+export const paramsAccess = tgpu.accessor(SimParams);
+
+const fitLayout = tgpu.bindGroupLayout({
+  state: { storage: CarStateArray },
+  fitness: { storage: FitnessArray, access: 'mutable' },
+});
+
+const initLayout = tgpu.bindGroupLayout({
+  state: { storage: CarStateArray, access: 'mutable' },
+  genome: { storage: GenomeArray, access: 'mutable' },
+});
+
+const evolveLayout = tgpu.bindGroupLayout({
+  fitness: { storage: FitnessArray },
+  genome: { storage: GenomeArray },
+  nextState: { storage: CarStateArray, access: 'mutable' },
+  nextGenome: { storage: GenomeArray, access: 'mutable' },
+  bestIdx: { storage: d.u32 },
+});
+
+const randSignedVec4 = () => {
+  'use gpu';
+  return (d.vec4f(randf.sample(), randf.sample(), randf.sample(), randf.sample()) * 2 - 1) * 0.8;
+};
+
+const randSignedMat4x4 = () => {
+  'use gpu';
+  return d.mat4x4f(randSignedVec4(), randSignedVec4(), randSignedVec4(), randSignedVec4());
+};
+
+const makeSpawnState = () => {
+  'use gpu';
+  const spawn = d.vec2f(paramsAccess.$.spawnX, paramsAccess.$.spawnY) * paramsAccess.$.trackScale;
+  return CarState({
+    position: spawn,
+    angle: paramsAccess.$.spawnAngle,
+    speed: 0,
+    alive: 1,
+    progress: 0,
+    angVel: 0,
+    aliveSteps: 0,
+    stallSteps: 0,
+  });
+};
+
+const tournamentSelect = () => {
+  'use gpu';
+  const population = d.f32(paramsAccess.$.population);
+  let best = d.u32(0);
+  let bestFitness = d.f32(-1);
+  for (let j = 0; j < 8; j++) {
+    const idx = d.u32(randf.sample() * population);
+    const f = evolveLayout.$.fitness[idx];
+    const better = f > bestFitness;
+    bestFitness = std.select(bestFitness, f, better);
+    best = std.select(best, idx, better);
+  }
+  return best;
+};
+
+const evolveVec = <T extends d.v2f | d.v4f>(a: T, b: T): T => {
+  'use gpu';
+  const strength = paramsAccess.$.mutationStrength;
+  const crossed = std.select(a, b, randf.sample() > 0.5);
+  const doMutate = randf.sample() < paramsAccess.$.mutationRate;
+  if (a.kind === 'vec2f') {
+    const delta = d.vec2f(randf.normal(0, strength), randf.normal(0, strength));
+    return ((crossed as d.v2f) + std.select(d.vec2f(0), delta, doMutate)) as T;
+  } else {
+    const delta = d.vec4f(
+      randf.normal(0, strength),
+      randf.normal(0, strength),
+      randf.normal(0, strength),
+      randf.normal(0, strength),
+    );
+    return ((crossed as d.v4f) + std.select(d.vec4f(0), delta, doMutate)) as T;
+  }
+};
+
+const evolveMat4x4 = (a: d.m4x4f, b: d.m4x4f) => {
+  'use gpu';
+  return d.mat4x4f(
+    evolveVec(a.columns[0], b.columns[0]),
+    evolveVec(a.columns[1], b.columns[1]),
+    evolveVec(a.columns[2], b.columns[2]),
+    evolveVec(a.columns[3], b.columns[3]),
+  );
+};
+
+const evolveInputLayer = (a: d.InferGPU<typeof InputLayer>, b: d.InferGPU<typeof InputLayer>) => {
+  'use gpu';
+  return InputLayer({
+    wA: evolveMat4x4(a.wA, b.wA),
+    wB: evolveMat4x4(a.wB, b.wB),
+    wC: evolveMat4x4(a.wC, b.wC),
+    bias: evolveVec(a.bias, b.bias),
+  });
+};
+
+const evolveDenseLayer = (a: d.InferGPU<typeof DenseLayer>, b: d.InferGPU<typeof DenseLayer>) => {
+  'use gpu';
+  return DenseLayer({ w: evolveMat4x4(a.w, b.w), bias: evolveVec(a.bias, b.bias) });
+};
+
+const evolveOutputLayer = (
+  a: d.InferGPU<typeof OutputLayer>,
+  b: d.InferGPU<typeof OutputLayer>,
+) => {
+  'use gpu';
+  return OutputLayer({
+    steer: evolveVec(a.steer, b.steer),
+    throttle: evolveVec(a.throttle, b.throttle),
+    bias: evolveVec(a.bias, b.bias),
+  });
+};
+
+const fitShader = (i: number) => {
+  'use gpu';
+  if (d.u32(i) >= paramsAccess.$.population) {
+    return;
+  }
+  const s = CarState(fitLayout.$.state[i]);
+  fitLayout.$.fitness[i] = s.progress * 10 + d.f32(s.aliveSteps) * 0.003;
+};
+
+const initShader = (i: number) => {
+  'use gpu';
+  if (d.u32(i) >= paramsAccess.$.population) {
+    return;
+  }
+  randf.seed2(d.vec2f(d.f32(i) + 1, paramsAccess.$.generation + 11));
+
+  initLayout.$.genome[i] = Genome({
+    h1: {
+      wA: randSignedMat4x4(),
+      wB: randSignedMat4x4(),
+      wC: randSignedMat4x4(),
+      bias: d.vec4f(),
+    },
+    h2: { w: randSignedMat4x4(), bias: d.vec4f() },
+    out: { steer: randSignedVec4(), throttle: randSignedVec4(), bias: d.vec2f() },
+  });
+  initLayout.$.state[i] = makeSpawnState();
+};
+
+const evolveShader = (i: number) => {
+  'use gpu';
+  if (d.u32(i) >= paramsAccess.$.population) {
+    return;
+  }
+
+  // Elitism: champion always lives at index 0, copied unchanged
+  if (d.u32(i) === 0) {
+    evolveLayout.$.nextGenome[0] = Genome(evolveLayout.$.genome[evolveLayout.$.bestIdx]);
+    evolveLayout.$.nextState[0] = makeSpawnState();
+    return;
+  }
+
+  randf.seed2(d.vec2f(d.f32(i) + 3, paramsAccess.$.generation + 19));
+
+  const parentA = Genome(evolveLayout.$.genome[tournamentSelect()]);
+  const parentB = Genome(evolveLayout.$.genome[tournamentSelect()]);
+
+  evolveLayout.$.nextGenome[i] = Genome({
+    h1: evolveInputLayer(parentA.h1, parentB.h1),
+    h2: evolveDenseLayer(parentA.h2, parentB.h2),
+    out: evolveOutputLayer(parentA.out, parentB.out),
+  });
+
+  evolveLayout.$.nextState[i] = makeSpawnState();
+};
+
+export function createGeneticPopulation(root: TgpuRoot, params: TgpuUniform<typeof SimParams>) {
+  const stateBuffers = [0, 1].map(() =>
+    root.createBuffer(CarStateArray).$usage('storage', 'vertex'),
+  );
+  const genomeBuffers = [0, 1].map(() => root.createBuffer(GenomeArray).$usage('storage'));
+  const fitnessBuffer = root.createBuffer(FitnessArray).$usage('storage');
+  const bestIdxBuffer = root.createBuffer(d.u32).$usage('storage');
+
+  const initBindGroups = [0, 1].map((i) =>
+    root.createBindGroup(initLayout, {
+      state: stateBuffers[i],
+      genome: genomeBuffers[i],
+    }),
+  );
+
+  const fitBindGroups = [0, 1].map((i) =>
+    root.createBindGroup(fitLayout, {
+      state: stateBuffers[i],
+      fitness: fitnessBuffer,
+    }),
+  );
+
+  const evolveBindGroups = [0, 1].map((i) =>
+    root.createBindGroup(evolveLayout, {
+      fitness: fitnessBuffer,
+      genome: genomeBuffers[i],
+      nextState: stateBuffers[1 - i],
+      nextGenome: genomeBuffers[1 - i],
+      bestIdx: bestIdxBuffer,
+    }),
+  );
+
+  const initPipeline = root.with(paramsAccess, params).createGuardedComputePipeline(initShader);
+  const fitPipeline = root.with(paramsAccess, params).createGuardedComputePipeline(fitShader);
+  const evolvePipeline = root.with(paramsAccess, params).createGuardedComputePipeline(evolveShader);
+
+  let current = 0;
+  let generation = 0;
+
+  return {
+    stateBuffers,
+    genomeBuffers,
+    fitnessBuffer,
+    bestIdxBuffer,
+    get current() {
+      return current;
+    },
+    get generation() {
+      return generation;
+    },
+    get currentStateBuffer() {
+      return stateBuffers[current];
+    },
+    get currentGenomeBuffer() {
+      return genomeBuffers[current];
+    },
+
+    init() {
+      current = 0;
+      generation = 0;
+      initPipeline.with(initBindGroups[0]).dispatchThreads(MAX_POP);
+      initPipeline.with(initBindGroups[1]).dispatchThreads(MAX_POP);
+    },
+
+    reinitCurrent(population: number) {
+      initPipeline.with(initBindGroups[current]).dispatchThreads(population);
+    },
+
+    precomputeFitness(population: number) {
+      fitPipeline.with(fitBindGroups[current]).dispatchThreads(population);
+    },
+
+    evolve(population: number) {
+      evolvePipeline.with(evolveBindGroups[current]).dispatchThreads(population);
+      current = 1 - current;
+      generation++;
+    },
+  };
+}

apps/typegpu-docs/src/examples/algorithms/genetic-racing/ga.ts

@@ -0,0 +1,14 @@
+<canvas data-fit-to-container></canvas>
+<div class="stats"></div>
+<style>
+  .stats {
+    position: absolute;
+    top: 8px;
+    left: 8px;
+    color: rgba(255, 255, 255, 0.85);
+    font-family: monospace;
+    font-size: 13px;
+    pointer-events: none;
+    white-space: pre;
+  }
+</style>