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https://github.com/lighttransport/tinyusdz

Tiny, dependency-free USDZ/USDA/USDC library written in C++14
https://github.com/lighttransport/tinyusdz
ar dependency-free universal-scene-description usd usdc usdz
Last synced: about 7 hours ago
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Tiny, dependency-free USDZ/USDA/USDC library written in C++14
Host: GitHub
URL: https://github.com/lighttransport/tinyusdz
Owner: lighttransport
License: other
Created: 2020-04-14T15:36:33.000Z (over 4 years ago)
Default Branch: dev
Last Pushed: 2024-08-09T19:40:49.000Z (4 months ago)
Last Synced: 2024-08-09T23:04:48.611Z (4 months ago)
Topics: ar, dependency-free, universal-scene-description, usd, usdc, usdz
Language: C++
Homepage:
Size: 33 MB
Stars: 471
Watchers: 21
Forks: 37
Open Issues: 69
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project

awesome-openusd - tinyusdz - free USDZ/USDA/USDC library written in C++14 (Libraries & Tools / Technical Explanation)
README

        # Tiny USDZ/USDA/USDC library in C++14

`TinyUSDZ` is secure, portable and dependency-free(depends only on C++ STL. Other 3rd-party libraries included. Yes, you don't need pxrUSD/OpenUSD library!) USDZ/USDC/USDA library written in C++14.

[Wasm demo!](https://lighttransport.github.io/tinyusdz/index.html) (requires 10MB file download)



(from https://github.com/syoyo/Vulkan-glTF-USDZ-PBR)



(from ASF MaterialXViewer fork https://github.com/lighttransport/materialx)

## High priority

* Prepare Release v0.8

  * [x] Core part should be ready for the release.

  * [ ] Support PLY and point primitive for Gaussian Splatting https://github.com/lighttransport/tinyusdz/issues/190

  * [ ] Write a demo and example viewer(work in progress)

    * [examples/openglviewer](examples/openglviewer) OpenGL viewer

    * [examples/sdlviewer](examples/sdlviewer) Software raytracing viewer 

  * For Vulkan and Android Vulkan example, please refer https://github.com/syoyo/Vulkan-glTF-USDZ-PBR for a while

  * For OpenGL + MaterialX example, please refer ASF MaterialXViewer fork to load USD model through TinyUSDZ https://github.com/lighttransport/materialx

 

## Mid-term todo

* Performace optimization https://github.com/syoyo/tinyusdz/issues/164

* MaterialX https://github.com/syoyo/tinyusdz/issues/86

  * Write our own MaterialX parser

  * OpenPBR shading model support https://github.com/lighttransport/tinyusdz/issues/172

  * USD + MateriralX + OpenPBR rendering verification using pbrlab? https://github.com/lighttransport/pbrlab

* Nested variantSet https://github.com/lighttransport/tinyusdz/issues/94 

* Enhancement for wasm, webgpu https://github.com/syoyo/tinyusdz/issues/118

  * Three.js loader addon(TinyUSDZLoader) https://github.com/lighttransport/tinyusdz/issues/185 

* better colorspace + wide-gamut support https://github.com/syoyo/tinyusdz/issues/142

* Better skinning + blendshapes support

  * Write example using mediapipe for motion tracking and face tracking with rigged USDZ model.  

* Improve interoperability with Blender USD export/import https://github.com/syoyo/tinyusdz/issues/98

* Tydra: Handy data structure converter for rendering https://github.com/syoyo/tinyusdz/issues/31

  * [x] USD to RenderScene(OpenGL/Vulkan-like API friendly data structure) conversion https://github.com/syoyo/tinyusdz/issues/109

  * [x] GeomSubset/Material Binding API support for shading/texturing https://github.com/syoyo/tinyusdz/issues/103 

* [x] UTF8 Identifier support https://github.com/syoyo/tinyusdz/issues/47

* Collection API

  * [ ] https://github.com/syoyo/tinyusdz/issues/108

* Experimental composition support https://github.com/syoyo/tinyusdz/issues/25

  * [x] subLayers

  * [x] references

  * [x] payload(no delayed load)

  * [x] inherits 

  * [x] variantSet

  * [ ] Validate composition is correctly operated.

* Better usdLux support https://github.com/syoyo/tinyusdz/issues/101 

* [ ] Support parsing usd-wg USD aasets

  * https://github.com/syoyo/tinyusdz/issues/135

* Support reading & compose some production USD scenes

  * [ ] Moana island v2.1 https://github.com/syoyo/tinyusdz/issues/90

  * [ ] ALAB USD production scene https://github.com/syoyo/tinyusdz/issues/91

  * [ ] Activision Caldera scene https://github.com/lighttransport/tinyusdz/issues/184

## Build status

|         |   Linux                                  |  Windows                              |   macOS   |  iOS   | Android |

|:-------:|:---------------------------------------- |:------------------------------------- |:---------:|:------:|:-------:|

| dev     | [![Linux Build](https://github.com/syoyo/tinyusdz/actions/workflows/linux_ci.yml/badge.svg)](https://github.com/syoyo/tinyusdz/actions/workflows/linux_ci.yml) | [![Windows CI build](https://github.com/syoyo/tinyusdz/actions/workflows/windows_ci.yml/badge.svg)](https://github.com/syoyo/tinyusdz/actions/workflows/windows_ci.yml)  [![Windows ARM CI build](https://github.com/syoyo/tinyusdz/actions/workflows/windows_arm_ci.yml/badge.svg)](https://github.com/syoyo/tinyusdz/actions/workflows/windows_arm_ci.yml)  | [![macOS Build](https://github.com/syoyo/tinyusdz/actions/workflows/macos_ci.yml/badge.svg)](https://github.com/syoyo/tinyusdz/actions/workflows/macos_ci.yml) | [![iOS Build](https://github.com/syoyo/tinyusdz/actions/workflows/ios_ci.yml/badge.svg)](https://github.com/syoyo/tinyusdz/actions/workflows/ios_ci.yml) | [![Android arm64v8a Build](https://github.com/syoyo/tinyusdz/actions/workflows/android_ci.yml/badge.svg)](https://github.com/syoyo/tinyusdz/actions/workflows/android_ci.yml) |

## Supported platforms

|         |   Linux                                  |  Windows                              |   macOS   |  iOS   | Android |  WASM(WASI)                    |  WASM(Emscripten) |

|:-------:|:---------------------------------------- |:------------------------------------- |:---------:|:------:|:-------:|:------------------------------:|:-----------:|

|   dev   | ✅ 64bit  ✅ 32bit  ✅ aarch64 | ✅ 64bit  ✅ 32bit  ✅ ARM64  |✅         |✅      |✅       |✅ [sandbox/wasi](sandbox/wasi) | ✅ [sandbox/emscripten](sandbox/emscripten) |

## Status

TinyUSDZ is in v0.8.0 release candidate.

Core loading feature(both USDA and USDC) is now working and production-grade(And no seg fault for corrupted USDA/USDC/USDZ input).

Somewhat working Tydra framwork for rendering USD model with OpenGL/Vulkan-like renderer. https://github.com/syoyo/tinyusdz/issues/148

v0.8.0 is basically Flattened scene only(i.e, USDA/USDC generated by using pxrUSD's `usdcat --flatten` or USDZ scene).

Composition features are work-in-progress(experimental Composition feature support in v0.8.0. Better composition feature in next major release v0.9.0(Q2/2025 expected) planned)

Remaining tasks for v0.8.0 release are writing examples, demos and utility functions(Tydra. Especially access to Material/Shader attributes).

* [x] USDZ/USDC(Crate) parser

  * USDC Crate version v0.8.0(most commonly used version as of 2022 Nov) or higher is supported.

* [ ] USDZ/USDC(Crate) writer (Work-in-progress)

* [x] USDA parser(Hand-written from a scratch. No Bison/Flex dependency!)

* [x] USDA writer

* [x] Support basic Primitives(Xform, Mesh, BasisCurves, etc.), basic Lights and Shaders(UsdPreviewSurface, UsdUVTexture, UsdPrimvarReader)

* **Experimental** support of some Composition features https://github.com/syoyo/tinyusdz/issues/25

  * [x] subLayers

  * [x] references

  * [x] payload 

  * [x] inherits

  * [x] variants

  * [ ] specializes

  

**Please see** [doc/status.md](doc/status.md) **for more details**

* [ ] Basic C API(`c-tinyusd`) for language bindings

  * [ ]  [examples/c_api_example](examples/c_api_example)

  * [ ] Basic Python binding

* [ ] Write simple SDL viewer example(2025 Spring expected)

* [ ] Write iOS and Android example(2025  expected)

* [ ] Write Vision OS example?

* [ ] Vulkan or OptiX/HIP RT raytracing viewer example

* [ ] USD <-> glTF converter example

  * There is an independent work of USD to glTF binary GLB converter: https://github.com/fynv/usd2glb

* [ ] Web demo with Three.js?

  * [ ] Three.js started to support USDZ with Ascii format, but no USDC support yet: https://github.com/mrdoob/three.js/issues/14219

## Discussions

We've opened Github Discussions page! https://github.com/syoyo/tinyusdz/discussions

### Security and memory budget

TinyUSDZ has first priority of considering security and stability.

USDZ(USDC) is a binary format. To avoid out-of-bounds access, out-of-memory, and other security issues when loading malcious USDZ(e.g. USDZ file from unknown origin), TinyUSDZ has a memory budget feature to avoid out-of-memory issue.

To limit a memory usage when loading USDZ file, Please set a value `max_memory_limit_in_mb` in USDLoadOptions.

TinyUSDZ source codes(and some external third party codes) are also checked by Address Sanitizer, CodeQL and Fuzzer.

#### Fuzzer 

See [tests/fuzzer](tests/fuzzer) .

For building fuzzer tests, you'll need Meson and Ninja.

#### Web platform(WASM) and sandboxed environment(WASI)

If you need to deal with arbitrary USD files from unknown origin(e.g. from internet, NFT storage. Whose may contain malcious data), it is recommended to use TinyUSDZ in sandboxed environment(RunC, FlatPak, WASI(WASM)). Run in WASI is recommended at the moment.

TinyUSDZ does not use C++ exceptions and can be built without threads. TinyUSDZ supports WASM and WASI build. So TinyUSDZ should runs well on various Web platform(WebAssembly. No SharedArrayBuffer, Atomics and WebAssembly SIMD(which is not yet available on iOS Safari) required) and sandboxed environment(WASI. Users who need to read various USD file which possibly could contain malcious data from Internet, IPFS or blockchain storage). 

See [sandbox/wasi/](sandbox/wasi) for Building TinyUSDZ with WASI toolchain.

### Tydra

USD itself is a generic container of 3D scene data.

Tydra is an interface to Renderers/Viewers and other DCCs.

Tydra may be something like Tiny version of pxrUSD Hydra, but its API is completely different. See [src/tydra/README.md](src/tydra/README.md) for the background.

## Notice

TinyUSDZ does not support Reality Composer file format(`.reality`) since it uses proprietary file format and we cannot understand it(so no conversion support from/to Reality also).

## Sponsorship and Commercial support

TinyUSDZ focuses on loading/writing USDA/USDC/USDZ functionalities.

Example viewer is just for demo purpose.

If you need commercial support, eco-system development(e.g. plug-ins, DCC tools on top of TinyUSDZ) or production-grade USDZ model viewer(e.g. embed TinyUSDZ to your AR app, 3D NFT Android mobile viewer capable of displaying (encrypted) USDZ model), please contact Light Transport Entertainment, Inc. : [https://goo.gl/forms/1p6uGcOKWGpXPHkA2 ](https://forms.gle/PeDRAgYM5ET9SjGs5)

We are also looking for sponsors. If you are interested in sponsoring(or donating to) TinyUSDZ project, use Github Sponsors to sponsor TinyUSDZ propject, or contact Light Transport Entertainment, Inc. for details: [https://goo.gl/forms/1p6uGcOKWGpXPHkA2 ](https://forms.gle/PeDRAgYM5ET9SjGs5)

## Projects using TinyUSDZ

* Vulkan-glTF-USDZ-PBR: Example to draw USD model using Vulkan https://github.com/syoyo/Vulkan-glTF-USDZ-PBR

* usd2glb: USD to glTF 2.0 GLB converter https://github.com/fynv/usd2glb

* webgpu-cpp-usdz: WebGPU C++/Wasm USDZ Renderer(NOTE: It doesn't support much yet!) https://github.com/Twinklebear/webgpu-cpp-usdz

* assimp started to integrate TinyUSDZ : https://github.com/assimp/assimp/pull/5628

* A secret project (*/ω＼*)

* Several DCC tools, plugins

* Your projects here!(Please send PR)

### Other related projects

* UsdzSharpie: C# Simple implementation of Usdz file format ( https://github.com/UkooLabs/UsdzSharpie )

* TinyGLTF: glTF 2.0 loader/saver ( https://github.com/syoyo/tinygltf )

## Supported platforms

* [x] Linux 64bit or later

  * [x] ARM AARCH64

  * [x] x86-64

  * [ ] RISC-V(Should work)

  * [ ] SPARC, POWER(Big endian machine). May work(theoretically)

* [x] Android arm64v8a

* [x] iOS

* [x] macOS(Arm, x86-64)

* [x] Windows 10 64bit or later

  * [x] Windows ARM

  * [x] clang-cl + MSVC SDK cross compile

* [x] WebAssembly

  * Emscripten

    * See [examples/sdlviewer/](examples/sdlviewer) example.

* [x] WASI(through WASI toolchain)

  * See [sandbox/wasi](sandbox/wasi)

## Requirements

* C++14 compiler

  * [x] gcc 4.9 or later

  * [x] Visual Studio 2019 or later. 2022 recommended.

    * You can use `CMakePresets.json`, but seems a bit troublesome in VS2022 https://github.com/lighttransport/tinyusdz/pull/182#issuecomment-2236676598 . If you encounter an issue, use `vcsetup.bat` to setup .sln for a while.

    * [x] Can be compiled with standalone MSVC compilers(Build Tools for Visual Studio 2019)

  * [x] clang 3.4 or later https://clang.llvm.org/cxx_status.html

  * [x] llvm-mingw(clang) supported

  * [x] MinGW gcc supported, but not recommended(You may got compilation failure depending on your build configuration: https://github.com/syoyo/tinyusdz/issues/33 , and linking takes too much time if you use default bfd linker.). If you want to compile TinyUSDZ in MinGW environment, llvm-mingw(clang) is recommended to use.

Compilation with C++17 is also supported. 

Compile on C++20 and C++23 could be possible, but not well tested, since C++20/C++23 compiler is not yet mature(as of 2024/01))

## Build

### Integrate to your app

If you are using CMake, just include tinyusdz repo with `add_subdirectory` and set include path to `/src`

We recommend to use CMake 3.24 or later.

(Mininum requirement is 3.16)

```cmake

...

# TinyUSDZ examples, tests and tools builds are disabled by default when

# tinyusdz is being built as a library with `add_subdirectory`

add_subdirectory(/path/to/tinyusdz tinyusdz)

target_include_directories(YOUR_APP PRIVATE "/path/to/tinyusdz/src")

# Namespaced static library target `tinyusdz::tinyusdz_static` is provided.

# At the moment we recommend to use static build of TinyUSDZ. 

# You can use alias target `tinyusdz_static` also for legacy cmake version. 

target_link_libraries(YOUR_APP PRIVATE tinyusdz::tinyusdz_static)

# For TinyUSDZ DLL(shared) library target, you can use

# `tinyusdz` library target  

```

Another way is simply copy `src` folder to your app, and add `*.cc` files to your app's build system.

All include paths are set relative from `src` folder, so you can just add include directory to `src` folder.

See `/CMakeLists.txt` and [examples/sdlviewer/CMakeLists.txt](examples/sdlviewer/CMakeLists.txt) for details.

TinyUSDZ does not generate any header files and source files before the build and after the build(before the installation stage), so you don't need to take care of any pre-processing and post-processing of source tree. For example, USD Ascii parser uses hand-written C++ code so no Bison/flex/PEG processing involved.

It may not be recommend to use tinyusdz as a git submodule, since the repo contains lots of codes required to build TinyUSDZ examples but these are not required for your app.

### Compiler defines

Please see `CMake build options` and `CMakeLists.txt`. In most case same identifier is defined from cmake build options: For example if you specify `-DTINYUSDZ_PRODUCTION_BUILD=1` for cmake argument, `TINYUSDZ_PRODUCTION_BUILD` is defined.

### CMake

Cmake build is provided.

#### Linux and macOS

```

$ mkdir build

$ cd build

$ cmake ..

$ make

```

Please take a look at `scripts/bootstrap-cmake-*.sh` for some build configuraions.

#### Visual Studio

Visual Studio 2019 and 2022 are supported.

`CMakePresets.json` is provided for easier build on Visual Studio 2019 and Visual Studio 2022, but has lot of limitations(and seems parallel build is not working well so build is slow).

If you want flexibility, ordinary cmake `.sln` generation approach by invoking `vcsetup.bat` recommended.

(Edit VS version in `vcsetup.bat` as you with before the run)

#### LLVM-MinGW build

MinGW native and cross-compiling example using llvm-mingw(clang) is provided.

See `scripts/bootstrap-cmake-mingw-win.sh` and `scripts/bootstrap-cmake-llvm-mingw-cross.sh` for details. 

One of benefit to use llvm-mingw is address sanitizer support on Windows app.

To run app(`.exe`, you'll need `libunwind.dll` and `libc++.dll` on your working directory or search path)

For Windows native build, we assume `ninja.exe` is installed on your system(You can use it from Meson package)

#### CMake build options

* `TINYUSDZ_PRODUCTION_BUILD` : Production build. Do not output debugging logs.

* `TINYUSDZ_BUILD_TESTS` : Build tests

* `TINYUSDZ_BUILD_EXAMPLES` : Build examples(note that not all examples in `examples` folder are built)

* `TINYUSDZ_WITH_OPENSUBDIV` : Use OpenSubviv to tessellate subdivision surface.

  * OpenSubdiv code is included in TinyUSDZ repo. If you want to use external OpenSubdiv repo, specity the path to OpenSubdiv using `osd_DIR` cmake environment variable.

* `TINYUSDZ_WITH_AUDIO` : Support loading audio(mp3 and wav).

* `TINYUSDZ_WITH_EXR` : Support loading EXR format HDR texture through TinyEXR.

* `TINYUSDZ_WITH_PXR_COMPAT_API` : Build with pxrUSD compatible API.

#### clang-cl on Windows

Assume ninja.exe is installed and path to ninja.exe is added to your `%PATH%`

Edit path to MSVC SDK and Windows SDK in `bootstrap-clang-cl-win64.bat`, then

```

> bootstrap-clang-cl-win64.bat

> ninja.exe

```

### Tools and Examples

* [tusdcat](examples/tusdcat/) Parse USDZ/USDA/USDC and print it as Ascii(similar to `usdcat` in pxrUSD).

  * `tusdcat` also do USD composition(`flatten`) and contains TinyUSDZ Composition API usecase.

* Deprecated. Use `tusdcat` [usda_parser](examples/usda_parser/) Parse USDA and print it as Ascii.

* Deprecated. Use `tusdcat` [usdc_parser](examples/usdc_parser/) Parse USDC and print it as Ascii.

* [Simple SDL viewer](examples/sdlviewer/)

  * Separated CMake build provided: See [Readme](examples/sdlviewer/README.md)

* [api_tutorial](examples/api_tutorial/) Tutorial of TinyUSDZ Core API to construct a USD scene data.

* [tydra_api](examples/tydra_api/) Tutorial of TinyUSDZ Tydra API to access/query/convert a USD scene data.

* [asset_resolution](examples/asset_resolution/) Tutorial of using AssetResolutionResolver API to load USD from customized I/O(e.g. from Memory, Web, DB, ...)

* [file_format](examples/file_format/) Tutorial of using custom FileFormat handler to load Prim data in custom fileformat.

See [examples](examples) directory for more examples, but may not actively maintained except for the above examples.

#### Examples as external project

* Vulkan rendering of USDZ model by extending Vulkan-glTF-PBR https://github.com/syoyo/Vulkan-glTF-USDZ-PBR

  * Uses `rendermesh-refactor` branch

  

### USDZ Data format

See [prim_format.md](doc/prim_format.md) and [preview_surface.md](doc/preview_surface.md)

## Example

### Minimum example to load USDA/USDC/USDZ file.

```

// TinyUSDZ is not a header-only library, so no TINYUSDZ_IMPLEMENTATIONS

#include "tinyusdz.hh"

// Include pprinter.hh and value-pprint.hh if you want to print TinyUSDZ classes/structs/enums.

// `tinyusdz::to_string()` and `std::operator<<` for TinyUSDZ classes/enums are provided separately for faster compilation

#include 

#include "pprinter.hh"

#include "value-pprint.hh"

int main(int argc, char **argv) {

  std::string filename = "input.usd";

  if (argc > 1) {

    filename = argv[1];

  }

  tinyusdz::Stage stage; // Stage in USD terminology is nearly meant for Scene in generic 3D graphics terminology.

  std::string warn;

  std::string err;

  // Auto detect USDA/USDC/USDZ

  bool ret = tinyusdz::LoadUSDFromFile(filename, &stage, &warn, &err);

  if (warn.size()) {

    std::cout << "WARN : " << warn << "\n";

  }

  if (!ret) {

    if (!err.empty()) {

      std::cerr << "ERR : " << warn << "\n";

    }

    return EXIT_FAILURE;

  }

  // Print Stage(Scene graph)

  std::cout << tinyusdz::to_string(stage) << "\n";

  

  // You can also use ExportToString() as done in pxrUSD 

  // std::cout << stage.ExportToString() << "\n";

  // stage.metas() To get Scene metadatum, 

  for (const Prim &root_prim : stage.root_prims()) {

    std::cout << root_prim.absolute_path() << "\n";

    // You can traverse Prim(scene graph object) using Prim::children()

    // See examples/api_tutorial and examples/tydra_api for details.

  }

  return EXIT_SUCCESS;

}

```

### With Core TinyUSDZ API

Please see [api_tutorial](examples/api_tutorial/)

### With Tydra API

Please see [tydra_api](examples/tydra_api/)

## TODO

### Higher priority

* [ ] Built-in usdObj(wavefront .obj mesh) support.

  * via tinyobjloader.

* [x] Support Crate(binary) version 0.8.0(USD v20.11 default)

* [ ] usdSkel utilities

  * [ ] Joint hierachy reconstruction and compute skinning matrix(usdSkel)

  * [ ] Blend shapes

    * [x] Basic Blendshapes support

    * [ ] In-between blend shapes

* [ ] Read USD data with bounded memory size. This feature is especially useful for mobile platform(e.g. in terms of security, memory consumption, etc)

* [ ] USDC writer

* [ ] Support Nested USDZ

* [ ] UDIM texture support

* [ ] MaterialX support

  * [ ] Parse XML file using tinyxml2

### Middle priority

* [ ] Composition arcs

* [ ] Code refactoring, code optimization

### Lower priority

* [ ] iOS example?

* [ ] Support AR related schema(Game-like feature added by Reality Composer?)

* [ ] Audio play support

  * [ ] Play audio using SoLoud or miniaudio(or Oboe for Android)

  * [ ] wav(dr_wav)

  * [ ] mp3(dr_mp3)

  * [ ] m4a(ALAC?)

* [ ] Viewer with Vulkan API.

* [ ] Replace OpenSubdiv with our own subdiv library.

* [ ] Write parser based on the schema definition.

* [ ] Support big endian architecture.

## Python binding and prebuit packages

Python binding and prebuilt packages(uploadded on PyPI) are provided.

See [python/README.md](python/README.md) and [doc/python_binding.md](doc/python_binding.md) for details.

## CI build

CI build script is a build script trying to build TinyUSDZ in self-contained manner as much as possible(including custom Python build)

### Linux/macOS

T.B.W.

### Windows

Build custom Python,

```

> ci-build-python-lib.bat

```

then build TinyUSDZ by linking with this local Python build.

```

> ci-build-vs2022.bat

```

#### Cross compile with clang-cl + MSVC SDK on linux and run it on WINE(No Windows required at all solution!)

clang-cl(MSVC cl.exe) + MSVC SDK cross compile is also supported.

Please take a look at [doc/wine_cl.md](doc/wine_cl.md)

You can build pure Windows build of TinyUSDZ on Linux CI machine.

## License

TinyUSDZ is primarily licensed under Apache 2.0 license.

Some helper code is licensed under MIT license.

### Third party licenses

* pxrUSD : Apache 2.0 license. https://github.com/PixarAnimationStudios/USD

* OpenSubdiv : Apache 2.0 license. https://github.com/PixarAnimationStudios/OpenSubdiv

* lz4 : BSD-2 license. http://www.lz4.org

* cnpy(uncompressed ZIP decode/encode code) : MIT license https://github.com/rogersce/cnpy

* tinyexr: BSD license.

* tinyobjloader: MIT license.

* tinygltf: MIT license.

* tinycolorio: MIT license. https://github.com/syoyo/tinycolorio

* stb_image, stb_image_resize, stb_image_write, stb_truetype: public domain. 

* dr_libs: public domain. https://github.com/mackron/dr_libs

* miniaudio: public domain or MIT no attribution. https://github.com/dr-soft/miniaudio

* SDL2 : zlib license. https://www.libsdl.org/index.php

* optional-lite: BSL 1.0 license. https://github.com/martinmoene/optional-lite

* expected-lite: BSL 1.0 license. https://github.com/martinmoene/expected-lite

* mapbox/earcut.hpp: ISC license. https://github.com/mapbox/earcut.hpp

* par_shapes.h generate parametric surfaces and other simple shapes: MIT license https://github.com/prideout/par

* MaterialX: Apache 2.0 license. https://github.com/AcademySoftwareFoundation/MaterialX

* string_id: zlib license. https://github.com/foonathan/string_id

* cityhash: MIT license. https://github.com/google/cityhash

* fast_float: Apache 2.0/MIT dual license. https://github.com/fastfloat/fast_float

* jsteeman/atoi: Apache 2.0 license. https://github.com/jsteemann/atoi

* formatxx: unlicense. https://github.com/seanmiddleditch/formatxx

* ubench.h: Unlicense. https://github.com/sheredom/ubench.h

* thelink2012/any : BSL-1.0 license. https://github.com/thelink2012/any

* simple_match : BSL-1.0 license. https://github.com/jbandela/simple_match

* nanobind : BSD-3 license. https://github.com/wjakob/nanobind

* pybind11 : BSD-3 license. https://github.com/pybind/pybind11

* pystring : BSD-3 license. https://github.com/imageworks/pystring

* gulrak/filesytem : MIT license. https://github.com/gulrak/filesystem

* p-ranav/glob : MIT license. https://github.com/p-ranav/glob

* linalg.h : Unlicense. https://github.com/sgorsten/linalg

* mapbox/eternal: ISC License. https://github.com/mapbox/eternal

* bvh: MIT license. https://github.com/madmann91/bvh

* dtoa_milo.h: MIT License. https://github.com/miloyip/dtoa-benchmark

* jeaiii/itoa: MIT License. https://github.com/jeaiii/itoa

* alac: Apache 2.0 License. https://macosforge.github.io/alac/

* OpenFBX: MIT License. https://github.com/nem0/OpenFBX

* floaxie: Apache 2.0 License. https://github.com/aclex/floaxie

* boost math sin_pi/cos_pi: BSL 1.0 License. https://www.boost.org/

* Vulkan: MIT License. https://github.com/SaschaWillems/Vulkan

* Metal.cpp: Apache 2.0 License. https://github.com/bkaradzic/metal-cpp https://developer.apple.com/metal/cpp/

* sRGB transform: MIT license. https://www.nayuki.io/page/srgb-transform-library

* virtualGizmo3D: BSD-2 license. https://github.com/BrutPitt/virtualGizmo3D

* nanozlib: Apache 2.0 license. https://github.com/lighttransport/nanozlib

* lz4.py: MIT license. https://github.com/SE2Dev/PyCoD/blob/master/_lz4.py

* pugixml: MIT license. https://github.com/zeux/pugixml

* nanoflann: 2-clause BSD license. https://github.com/jlblancoc/nanoflann

* tinymeshutils: MIT license. https://github.com/syoyo/tinymeshutils