[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

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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 rendering backend, and expands the CUDA renderer and driving presentation.

• Adds native PhysX scene bindings, runtime integration, collision effects, debug visualization, and traffic/vehicle physics.
• Makes game-like collision behavior conditional on game mode, including for programmatic AppConfig construction.
• Replaces the former Vulkan renderer with a CUDA-only rendering path and updates documentation, dependencies, and tests.
• Correctly retains each native scene as the owner of NumPy views returned from the PhysX bindings.

Confidence Score: 5/5

The PR appears safe to merge because no blocking failure remains.

The native buffer views now retain their NativeScene owner, and AppConfig initialization now disables game-mode-only behavior unless game mode is enabled, so both previously reported failures are resolved.

Important Files Changed

Filename	Overview
integrations/omnidreams/ludus-renderer/ludus_renderer/_cpp/physx/bindings.cpp	Adds native PhysX scene management and stable NumPy buffer views whose base objects now retain their NativeScene owner.
integrations/omnidreams/ludus-renderer/ludus_renderer/physx.py	Provides the Python-facing PhysX world lifecycle and synchronizes object-graph state with the native scene.
integrations/omnidreams/ludus-renderer/ludus_renderer/object_graph.py	Introduces the physics object graph, body models, barriers, poses, and simulation state structures.
integrations/omnidreams/omnidreams/interactive_drive/config.py	Adds game-mode configuration and normalizes speed limits, collisions, and visual flares so programmatic defaults remain disabled.
integrations/omnidreams/omnidreams/interactive_drive/simulation/game_physics.py	Integrates PhysX collision behavior and game-mode effects into the driving simulation.
integrations/omnidreams/ludus-renderer/ludus_renderer/_cpp/bindings/torch_rasterize_cuda.cpp	Extends timestamped CUDA rendering and adds device, shape, stream, and renderer-state synchronization checks.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart LR
  Input[Keyboard / Driving Input] --> Loop[Interactive Drive Runtime]
  Loop --> Graph[Physics Object Graph]
  Graph --> PhysX[Native PhysX Scene]
  PhysX --> Buffers[Stable Scene State Buffers]
  Buffers --> CUDA[CUDA Rasterizer]
  CUDA --> Views[RGB / BEV / PhysX Debug Views]
  PhysX --> Effects[Collision Flare and Game Effects]

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_{Reviews (5): Last reviewed commit: "fix failing tests" | 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