Portfolio

Portfolio

Posted
By Jad Nohra
20 min read
Portfolio

Learning Journey

Technical tree showing projects, algorithms, study, and career connections.

Knowledge Graph

Interactive visualization of connections between career, projects, algorithms, and theory. Hover over nodes to highlight relationships.

Projects

  • 2016 → 2025: Work in progress

  • 2024-2025 - Linerate ZK Hardware Acceleration
    • Hardware acceleration framework for zero-knowledge proof systems. Designed unified API supporting emulated (CPU), verilated (RTL simulation), and FPGA device execution modes. Implemented emulated mode and core interfaces; led architecture decisions for team-developed verilated and FPGA modes.
    • Three-Mode Architecture: Designed unified device abstraction across emulated (pure software), verilated (Verilator RTL simulation), and FPGA hardware. Implemented emulated mode; led team on verilated and FPGA modes. Single codebase. Hardware-software co-design enabling algorithm development on CPU, cycle-accurate validation on Verilator, deployment on FPGA.
    • Xlang Compiler: Led development of domain-specific language and compiler for xcheck accelerator. Computation graph construction (DAG). Operations: Load/Store, Add2/Add3, Mul, MAC (multiply-accumulate), Interleave, Constants. Compiler pipeline: detriangulation → instruction scheduling → register allocation → VLIW code generation. Register bank allocation with coloring. ALU/LSU instruction encoding. Emulator for validation.
    • Compute Kernels: NTT (Number-Theoretic Transform), FRI fold operations, tensor expand/operations, inner products, extrapolate line, sum composition evaluations. Left/right fold kernels. Product vector-scalar operations. Memory stress testing.
    • Device Management: FPGA bitstream programming, VFIO driver binding, DMA memory management, PCIe device configuration. Host-to-card (H2C) and card-to-host (C2H) data transfer. Register-level hardware control. AWS S3 bitstream distribution.
    • Resource Management: Memory frame allocation, task graph scheduling, multi-threaded/single-threaded runners. Device resource controllers for emulated, verilated, and FPGA targets. IOMMU integration. Constraint-based memory alignment and transfer unit management.
    • Integration with Binius: Hardware acceleration for Binius zero-knowledge proof system. Finite field operations over binary fields. Polynomial commitment schemes. Multi-linear extensions.
    • Tech: Rust, Verilator, FPGA (Xilinx), PCIe, DMA, VFIO. Algos: NTT, FRI, Tensor operations, Finite fields, Polynomial commitments, VLIW, Register allocation, Instruction scheduling.
    • Applied at #1 Irreducible.
  • 2021-2022 - Statistical Test Design for AV Safety Validation — Fleet-level safety statistics
  • 2021-2022 - VTT Simulation Platform — AV simulation framework
    • Multi-layer simulation framework for autonomous vehicle testing — enabling systematic validation of detection, prediction, tracking, and motion planning through physics-based modeling and deterministic execution.
    • Layered Simulation Architecture: Multi-layer Environment State (ES) with Transformation Functions (TF). Layer 0 ground truth, subsequent layers apply noise/filtering. Enables isolated testing of detection, prediction, tracking, motion planning.
    • AV Compute Model: 8-dimension timing model — Execution Time (distribution sampling), Branching, Messaging, Triggering, Transmission Time, Queuing (FIFO/LIFO), Clock Synchronization, System Load. Time series modeling for latency. SOTIF/FMEA connection.
    • Driver Model: Built on Wiedemann Model (1974), Intelligent Driver Model (1999), Enhanced IDM. “Specialist Driver” concept for edge case testing. Agent-based modeling validation methodology. TTC metrics.
    • Vehicle Dynamics Modeling: Bicycle model, tire cornering stiffness, yaw inertia, road load coefficients (coast-down testing). Steering actuator time constants, rack conversion.
    • Path Refinement Analysis: QP optimization with horizon points (trajectory discretization). Linearized dynamics constraints. CVXGEN solver with iterative refinement. Soft/hard envelope constraints (convexification). Savitzky-Golay filtering for steering analysis. Reachability analysis for solver convergence.
    • Resimulation System: Transform Graph DAG, MTR orchestration, overlay management, deterministic discrete-event scheduling at scale.
    • Tech: C++, Python. Algos: Discrete-event simulation, MPC, QP, ABM, IDM, Bicycle model, Time series, Convex optimization.
    • UL4600 safety certification. SOTIF analysis. FMEA integration.
    • Applied at #3 Argo AI, #2 FERNRIDE.
  • 2018-2020 - daisy — Traffic simulator
    • Traffic flow simulation for autonomous vehicle testing scenarios — built during AV work to model realistic traffic patterns and edge cases.
    • Tech: Python. Algos: Agent-based simulation, traffic flow modeling.
    • Applied at #4 Audi AID.
  • 2018-2020 - PaCoS — Concurrency determinism simulator
    • Deterministic concurrency simulator for debugging distributed systems — ensuring reproducible behavior in parallel AV software stacks.
    • Tech: Python. Algos: Discrete event simulation, deterministic scheduling.
    • Applied at #4 Audi AID.
  • May 2019 - TheNotes — Study notes 2013-2018 published to GitHub
    • Collection of mathematical and technical study notes accumulated over 5+ years, covering physics foundations, linear algebra, analysis, and formal logic — a personal reference and learning archive.
    • Covers physics, linear algebra, geometry, logic across 90+ documents.
    • Notes: LinAlg Done Right, 2022 robotics transforms
    Source Tree
    ├── 2011-2012
│   ├── attribution.pdf
│   ├── quotes1-0-100.pdf
│   └── theplan.pdf
├── 2013-2014
│   ├── Notes on the GJK Algorithm..pdf
│   ├── Notes on the Linear Complementarity Problem.pdf
│   ├── Notes on Euler's Writings.pdf
│   └── ... (30 files)
├── 2015
│   ├── Notes on Potter's Set Theory and its Philosophy.pdf
│   ├── rotation.pdf
│   ├── lagrfrmw.pdf
│   └── ... (26 files)
├── 2016
│   ├── dform.pdf
│   ├── notes_coll_det.pdf
│   ├── ml_survey.pdf
│   └── ... (19 files)
├── 2017
│   ├── treat_rbd_1.pdf
│   ├── plql.pdf
│   └── ... (11 files)
├── 2018
│   ├── Free Occurrences in FOL.pdf
│   └── thought_base.pdf
├── 2019
│   └── memo_linear-algebra-done-right.pdf
└── 2022
  └── mapping_robotics_transform_terminology_to_abstract_linear_algebra.pdf
  • Sep 2017 - tag_export — Digital library index
    • A curated, tagged bibliography of technical books and papers — built to quickly locate authoritative references during study sessions and project research.
    • Curated references for physics, math, CS — used for quick lookup during study.
    • tag_export
  • Apr 2017 - defdefqed — FOL prover, semantic graph crawler
    • A first-order logic theorem prover and semantic graph crawler — built to formalize mathematical exploration and automatically extract relationships from mathematical texts.
    • Tech: Python. Algos: First-Order Logic (notes), resolution, unification.
    • Notes: FOL, thought_base, Barwise Liar, Zakon
    • Motivated by desire to formalize mathematical exploration. Video demo.
  • 2017 - Study: Programming Logic
  • 2017 - Study: Rigid Body Dynamics
  • 2016 - Study: Analysis & Geometry
  • ~2016 - HKDS High-Fidelity Solver at #5 Havok
    • R&D for high-fidelity constraint solver targeting robotics and machinery simulation — going beyond game physics to industrial precision.
    • Tech: C++. Algos: MLCP, substepping, co-simulation.
    • Key documents: HKDS overview, constraint detail, substepping algorithm.
    • Notes: Rotations and Basics (TheMathematicsOfHavoksSolver.pdf), treat_rbd_1
    • Prototype videos: Titan arm, excavator digger.
  • ~2016 - TOI Argument at #5 Havok
    • Formal proof that the Time-Of-Impact tunneling problem has no complete solution — proving an open problem unsolvable, redirecting team focus from finding a solution to managing trade-offs.
    • Algos: Continuous collision detection, TOI analysis.
    • Effect: stopped searching for impossible solution, focused on artifact trade-off management.
  • ~2015 - Network Physics R&D at #5 Havok
    • Research and prototyping for networked multiplayer physics — synchronization, prediction, and rollback for distributed rigid body simulation.
    • Tech: C++. Algos: Client-server physics, state synchronization, sector partitioning.
    • Deliverables: Research report with proposed architectures, working prototype.
  • ~2015 - hinges_py — RBD simulator
    • Python rigid body dynamics simulator for research and prototyping — exploring constraint formulations and numerical methods outside the main codebase.
    • Tech: Python. Algos: Rigid body dynamics, constraint solving, forward Euler.
    • Used for HKDS research and arxiv publication validation.
  • ~2015 - trace — Real-time data plotting
    • Real-time data visualization tool for physics debugging — plotting solver convergence, constraint forces, and numerical residuals.
    • Tech: Python. Algos: Streaming data visualization.
    • Applied at #5 Havok for dynamics debugging.
  • 2015 - arxiv: Uniqueness of Minima at #10 Guided Knowledge
    • Published mathematical paper proving uniqueness conditions for certain least squares problems — theoretical foundations for IMU sensor fusion optimization.
    • Algos: Least squares, optimization theory, uniqueness proofs.
    • Notes: Project GK notes
  • ~2014 - Physics-2014 Contact Solver at #5 Havok
    • Complete rewrite of Havok’s contact constraint solver — shipped in all games since ~2014, optimized for branch prediction and cache efficiency.
    • Tech: C++, SIMD. Algos: Gauss-Seidel, sequential impulse, constraint solving.
    • Key achievements: No bugs ever reported, tunable defensiveness, found slow-accumulation bugs in other code.
    • Critical component in all Havok-powered games for a decade.
  • ~2013-2015 - Geometry Numerical Issues at #5 Havok
    • Deep investigation of floating-point numerical issues in collision geometry — ray-triangle, ray-sphere intersection with robust epsilon handling.
    • Tech: C++. Algos: IEEE 754, interval arithmetic, ULP analysis.
    • Built interval math library (2x slower than normal arithmetic) for guaranteed bounds.
    • Notes: Residuals
    • Led to deep interest in numerical analysis and studying.
  • ~2012 - Nintendo WiiU Math Library at #5 Havok
    • Low-level math library optimization for Nintendo WiiU’s PowerPC-based CPU — working around buggy compiler optimizations and limited SIMD.
    • Tech: C++, PowerPC assembly. Algos: SIMD vectorization, instruction scheduling.
    • Instruction-level ARM (handicapped two-float SIMD), workarounds for compiler bugs.
  • 2015 - Study: Foundations & Logic
  • Sep 2015 - MLCP 2.0 — LP solver in Julia
    Source Tree
    ├── _dcd_off.jl
├── _dcd_on.jl
├── _load_common.jl
├── _load_lp_1.jl
├── _load_lu_1.jl
├── arg.jl
├── bench/
│   └── impcol_a.mtx.gz
├── conv.jl
├── load_lp_dcd.jl
├── load_lp.jl
├── load_lu.jl
├── load.jl
├── lp_bench.jl
├── lp_glpk.jl
├── lp_jad.jl
├── lp.jl
├── lu_bench.jl
├── lu_julia.jl
├── lu_std.jl
├── lu.jl
├── mlcp.jl
├── shared_funcs.jl
└── shared_types.jl
  • Jul 2015 - asinus_salutem — Math expression parser
    • Interactive math expression parser with symbolic computation — a CLI tool for quick mathematical exploration and verification.
    • Tech: Python, SymPy. Algos: Expression parsing, AST construction.
    • Key files: as.py.
    • Built for mathematical exploration tooling.
    Source Tree
    ├── as.py
├── helper_arg.py
├── helper_math1.py
├── helper_term.py
└── scripts/
  ├── gk_notes_p45.txt
  ├── script1.py
  ├── test_basics.txt
  ├── test_comp.txt
  ├── test_df.txt
  ├── test_mtest.txt
  ├── test_parser.txt
  ├── test_scope.txt
  └── test_ztest.txt
  • 2013-2014 - Deep Mathematical Study at #5 Havok
  • May 2011 - Floating Point Analysis — IEEE 754 deep dive
    • Low-level exploration of IEEE 754 floating-point representation — bit manipulation, epsilon calculation, and denormal handling essential for numerical stability in physics code.
    • Tech: Python, C++. Algos: IEEE 754 bit manipulation, epsilon calculation, denormals.
    • Key files: bitfp.cpp, bitfp.py.
    • Notes: asymp_not
    • Applied at #5 Havok for low-level numerical optimization.
    Source Tree
    ├── bitfp.cpp
├── bitfp.py
└── line_err.py
  • 2009-2011 - Killzone 3 AI Systems at #6 Guerrilla Games
    • Environment-aware AI physical behavior for Killzone 3 — jetpack navigation, owl patrol AI, environment interaction.
    • Tech: C++, PS3/SPU. Algos: Behavior trees, environment queries, physical animation.
    • Video: Jetpack and Owl AI.
    • Also: SPU + PS3 multithreading/DMA tricky bug chasing.
  • 2009-2011 - Killzone 3 Vehicle AI at #6 Guerrilla Games
    • Vehicle pathfinding and motion planning for AI-controlled vehicles in Killzone 3.
    • Tech: C++. Algos: Motion planning, vehicle dynamics, path following.
    • Video: Vehicle AI.
    • Prototyping and planner development.
  • 2009-2011 - Automatic Region Generation at #6 Guerrilla Games
    • Automated navmesh region generation using skeletonization — improving on Recast’s “ugly and cryptic” code with better corner case handling.
    • Tech: C++. Algos: Skeletonization, Medial axis transform, region decomposition.
    • Improvements on corner cases that other companies presented as challenges during GDC.
  • Nov 2010 - RecastMOD — Navigation mesh system
  • Aug 2010 - Bigfoot Animation — Skeletal animation with physics
    Source Tree
    └── src/
  ├── BF/
  │   ├── 3rdparty/
  │   ├── BFMath.h
  │   ├── Camera.cpp
  │   ├── Camera.h
  │   ├── ColorUtil.cpp
  │   ├── ColorUtil.h
  │   ├── DrawUtil.h
  │   ├── GridRenderer.cpp
  │   ├── GridRenderer.h
  │   ├── LoaderBVH.cpp
  │   ├── LoaderBVH.h
  │   ├── Locomo.cpp
  │   ├── Locomo.h
  │   ├── LocomoRender.h
  │   ├── Random.cpp
  │   ├── Random.h
  │   ├── Rendering.h
  │   ├── Skeleton.cpp
  │   ├── Skeleton.h
  │   ├── SkeletonAnalyzer.cpp
  │   ├── SkeletonAnalyzer.h
  │   ├── SkeletonPhysicsModel.cpp
  │   ├── SkeletonPhysicsModel.h
  │   ├── SkeletonRenderer.cpp
  │   └── SkeletonRenderer.h
  ├── Main.cpp
  ├── Planner.cpp
  ├── Retarget.cpp
  └── Viewer.cpp
  • Aug 2010 - BlenderToBVH — Animation export tool
    • Blender addon to export armature animations to BVH format — enabling custom animation pipelines and motion capture integration.
    • Tech: Python, Blender API. Algos: Armature traversal, coordinate system conversion.
    • Key files: bvh_export.py.
    • Used in Bigfoot animation pipeline.
    Source Tree
    ├── bvh_export.py
├── BVHFriendlyArmature.blend
├── OneBone_NoRots.blend
├── OneBone_RotX90.blend
├── OneBone_RotY90.blend
├── OneBone_RotZ90.blend
├── OneRoot_NoRots_1Child_NoRots.blend
├── OneRoot_NoRots_1Child_Rot1.blend
├── OneRoot_Rot1_1Child_Rot1.blend
├── OneRoot_Rot1_2Child_Rot1.blend
├── Proto1.blend
├── Test3Bones.blend
├── proto1_export.bvh
├── Test1.bvh ... Test10.bvh
  • May 2010 - Bigeye UI — UI framework
    • Lightweight retained-mode UI framework with scene graph rendering — built for rapid prototyping of graphics and simulation tools.
    • Tech: C++, OpenGL, MagickWand, Win32. Algos: Retained-mode rendering, Scene graph.
    • Key files: Bigeye.cpp, RenderNodes.h.
    • Used for rapid prototyping throughout career.
    Source Tree
    └── src/BE/
  ├── ARB_Multisample.cpp
  ├── ARB_Multisample.h
  ├── Assert.h
  ├── BEMath.h
  ├── Bigeye.cpp
  ├── Bigeye.h
  ├── Demo.cpp
  ├── LibInclude.h
  ├── MagickWand.cpp
  ├── MagickWand.h
  ├── MainWindow.cpp
  ├── MainWindow.h
  ├── OGL.cpp
  ├── OGL.h
  ├── Platform.h
  ├── Renderer.cpp
  ├── Renderer.h
  ├── RenderNodes.cpp
  ├── RenderNodes.h
  ├── RenderTreeBuilder.cpp
  ├── RenderTreeBuilder.h
  ├── WidgetEvent.h
  ├── Widgets.cpp
  └── Widgets.h
  • Apr 2010 - Puppeteer — BVH viewer
    • BVH file loader and skeletal animation viewer — foundation for character animation research and motion capture visualization.
    • Tech: C++, OpenGL, GLM. Algos: BVH parsing, skeletal rendering.
    • Key files: LoaderBVH.cpp, Skeleton.h.
    • Foundation for Bigfoot animation system.
    Source Tree
    └── src/
  ├── app.h
  ├── ARB_Multisample.cpp
  ├── ARB_Multisample.h
  ├── Camera.cpp
  ├── Camera.h
  ├── dSFMT/
  ├── freeglut/
  ├── glm/
  ├── LoaderBVH.cpp
  ├── LoaderBVH.h
  ├── main.cpp
  ├── mesh.h
  ├── NeHeGL.cpp
  ├── NeHeGL.h
  ├── Random.cpp
  ├── Random.h
  ├── Rendering.h
  ├── Skeleton.cpp
  ├── Skeleton.h
  ├── SkeletonRenderer.cpp
  ├── SkeletonRenderer.h
  ├── strtk/
  └── wavefrontObjLoader/
  • 2008-2010 - AI Sandbox at #7 AiGameDev
    • Open-source game AI development framework — main programmer for a platform used by the AI game development community for research and education.
    • Tech: C++. Algos: HPA*, locomotion system, Reinforcement learning.
    • Notes: ml_survey. Books: #3 AI Game Programming Wisdom
    • Main programmer; co-authored “Parallel Pathfinding on Modern Hardware”. Applied at #6, #5.
  • Apr 2009 - Obstacle Avoidance — Steering behaviors
    • Implementation of velocity obstacles and steering behaviors — local collision avoidance for crowds and NPC navigation.
    • Tech: C++, 2D visualization. Algos: Velocity obstacles, collision prediction, steering.
    • Applied at #7, #6. Video.
  • Apr 2009 - TicTacToe AI — AI algorithms testbed
    Source Tree
    ├── Readme.txt
├── TicTacToe.sln
├── TicTacToe.vcproj
└── src/
  ├── Array.hpp
  ├── main.cpp
  ├── Ptr.hpp
  ├── Random.hpp
  ├── SuperHeader.hpp
  ├── TicTacToeAIPlayerAlphaBetaMinimax.cpp
  ├── TicTacToeAIPlayerAlphaBetaMinimax.hpp
  ├── TicTacToeAIPlayerConsoleInput.cpp
  ├── TicTacToeAIPlayerConsoleInput.hpp
  ├── TicTacToeAIPlayerHeuristic.cpp
  ├── TicTacToeAIPlayerHeuristic.hpp
  ├── TicTacToeAIPlayerRandom.hpp
  ├── TicTacToeAIPlayerRLValueIter.cpp
  ├── TicTacToeAIPlayerRLValueIter.h
  ├── TicTacToeGame.cpp
  └── TicTacToeGame.hpp
  • Apr 2009 - Graphics Framework — Quake3 BSP renderer
    • BSP-based renderer loading Quake 3 maps — exploring spatial partitioning, PVS culling, and real-time rendering techniques from classic game engines.
    • Tech: C++, OpenGL, Win32. Algos: BSP traversal, PVS culling, lightmaps.
    • Built on thrashit3d experience from university.
    Source Tree
    ├── GfxFramework/
│   └── Source/
│       ├── BasicRenderer.cs
│       ├── BezierPatch.cs
│       ├── EffectContext.cs
│       ├── Renderer.cs
│       ├── RenderResourceManager.cs
│       ├── Scene.cs
│       ├── TriangleListType.cs
│       └── UniformGridTesselator.cs
├── Quake3App/
│   └── Source/
│       ├── Game1.cs
│       └── ManualCamera.cs
└── Quake3Lib/
  ├── Q3ShaderParser/
  └── Source/
  • 2006-2008 - World-Of-Football at #9 Kimera
    • Complete indie game engine for a football (soccer) game — custom rendering, physics, animation, and neural network-based goalkeeper AI.
    • Tech: C++, DirectX. Algos: Custom physics, Neural networks (goalkeeper AI), spatial partitioning.
    • Foundation for #8 Sixteen Tons and #7 AiGameDev.
    Source Tree
    ├── dep/
│   ├── DXUT_9_0_c/
│   ├── squirrel_2_1_1_sqplus/
│   └── tinyxml/
├── Doc/
├── Media/ (screenshots, videos)
├── WitchEngine3/src/WE3/
│   ├── audio/
│   ├── coll/
│   ├── coordSys/
│   ├── geometry/
│   ├── input/
│   ├── math/
│   ├── mesh/
│   ├── phys/
│   ├── render/
│   ├── scene/
│   ├── script/
│   ├── skeleton/
│   ├── spatialManager/
│   └── ui/
├── WOF2/src/WOF/
│   ├── match/
│   │   ├── Clock.cpp
│   │   ├── Match.cpp
│   │   ├── Team.cpp
│   │   ├── Player.cpp
│   │   ├── collision/
│   │   ├── entity/
│   │   ├── scene/
│   │   ├── script/
│   │   └── spatialQuery/
│   └── script/
└── WOF_Debugger/
  • 1998 - University Projects (AUB) — Early graphics and systems programming
    • First explorations in 3D graphics and distributed computing during computer engineering degree at American University of Beirut — foundations for all subsequent graphics and systems work.
    • thrashit3d — Software 3D renderer with full pipeline: projection, occlusion, rasterization (flat/Gouraud/wireframe), z-buffering, viewport clipping
    • RayTracer — Ray tracing with BVH acceleration, Blinn-Phong shading, hard shadows, supersampling, parallel rendering
    • xu1 — 3D racing game engine with ASE model loading, octree spatial partitioning, static geometry builder
    • watereffect — Java height map wave simulation with circular/spherical wave propagation, real-time image distortion
    • 2dshooter — Java game engine (fivemagics) with 2D collision detection, physics engine, GUI system, resource loading, XML scene description
    • GraphEdit — 3D equation grapher with symbolic expression evaluation and distributed rendering
    • Foundation for #9 Kimera and all subsequent graphics work.
    Source Tree
    ├── 2dshooter/fivemagics/ (Java game engine)
│   ├── applet/GenericApplet.class
│   ├── collision/
│   │   ├── ICollisionHandler.class
│   │   └── d2/{circle,rect}/CollisionArea.class, CollisionEngine.class
│   ├── dataformats/AwtImage.class, XMLFile.class, XMLTag.class
│   ├── engine/
│   │   ├── IEngine.class
│   │   ├── d2/physics/PhEngine.class, PhObject.class
│   │   └── gui/GUIEngine.class, WMenu.class, WTextConsole.class
│   ├── evt/Event.class, TimedEventManager.class
│   ├── geo/d2/D2FloatPoint.class, D2Line.class
│   ├── gfx/
│   │   ├── PixelData.class, IBlittable.class, IGfxImage.class
│   │   ├── d2/GfxEngine.class, ImageAnimation.class
│   │   └── filter/hmap/HeightMap.class, CircularWave.class
│   ├── res/ResEngine.class, ResLoaderThread.class
│   └── projects/thrashem/Applet.class, PlayerShip.class, EnemyShip.class
├── graphedit/ (screenshots, index.html)
├── RayTracer/
│   ├── data/bunny.obj, cornell_box.obj/.mtl
│   ├── screenshots/ (render results)
│   └── src/
│       ├── main.cpp
│       ├── 3rdparty/
│       │   ├── awilliam/
│       │   ├── LofstedtAkenineMoller05/
│       │   ├── PixelToaster1.4/
│       │   ├── plyLoader/
│       │   └── wavefrontObjLoader/
│       ├── rayTracer/
│       │   ├── BoundingVolumeHierarchy.cpp/.hpp
│       │   ├── Camera.cpp/.hpp
│       │   ├── Material.cpp/.hpp
│       │   ├── Math.cpp/.hpp
│       │   ├── ParallelProcessor_Simple.cpp/.hpp
│       │   ├── PostProcess.cpp/.hpp, GaussianBlur.cpp/.hpp
│       │   ├── Primitive.cpp/.hpp
│       │   ├── Primitive_{Sphere,Plane,Triangle,Quad,Cone}.hpp
│       │   ├── Ray.hpp, RayTracer.hpp
│       │   ├── Renderer.cpp/.hpp
│       │   ├── RenderImage.cpp/.hpp, RenderTarget.cpp/.hpp
│       │   ├── Scene.cpp/.hpp
│       │   └── SpatialAccelerator.cpp/.hpp
│       └── WE3/ (engine utilities)
├── thrashit3d/
│   ├── engine/
│   │   ├── ThrashIt3D.cpp, ThrashIt3D.h
│   │   ├── TIStageOcclusion.cpp/.h
│   │   ├── TIStageProjection.cpp/.h
│   │   ├── TIStageRasterization.cpp/.h
│   │   ├── TIStageRasterizationFlat.cpp/.h
│   │   ├── TIStageRasterizationGouraud.cpp/.h
│   │   ├── TIStageRasterizationWireframe.cpp/.h
│   │   ├── TIStageTransformation.cpp/.h
│   │   ├── TIViewport.cpp/.h
│   │   └── TIZBuffer.cpp/.h
│   └── geom/
│       ├── TIAngle.cpp/.h
│       ├── TIBasicVertex.cpp/.h
│       ├── TIGeometry.cpp/.h
│       ├── TITransform.cpp/.h
│       ├── TITriangle.cpp/.h
│       └── TIVertex.cpp/.h
├── watereffect/ (23 Java classes)
│   ├── Applet1.class, GenericApplet.class
│   ├── CircularWave.class, CircularWave2.class, SphereWave.class
│   ├── HeightMapImage.class, IHeightMapGenerator.class
│   ├── IScene.class, Scene1.class
│   └── Drop1Event.class, TimedDrop1Event.class
└── xu1/src/ThrashIt/
  ├── FileFormats/
  │   ├── ASE/ASEFile.cpp/.h, ASEGeomObject.cpp/.h
  │   └── TIS/TISFileStructs.cpp/.h
  ├── General/Collection/
  │   ├── CArray.cpp/.h, CHashTable.cpp/.h
  │   ├── Tree.cpp/.h, FixedTree.cpp/.h
  │   └── String.cpp/.h, Fraction.cpp/.h
  └── MabenEngine/TIStaticGeometry/
      ├── PreBuild/TIStaticBuilder.cpp
      └── RealTime/TIStaticGeometryRealTime.cpp/.h

Career

  1. Irreducible (2024-) Engineering Director, ZK/hardware
  2. FERNRIDE (2023-24) Principal Engineer, autonomous trucks
  3. Argo AI (2021-22) Engineering Manager, AV simulation
  4. Audi AID (2018-20) Simulation Tech Lead
  5. Havok/Microsoft (2011-18) Lead Physics R&D
  6. Guerrilla Games (2009-11) Senior AI, Killzone 3
  7. AiGameDev (2008-10) Main programmer, AI Sandbox
  8. Sixteen Tons (2008) Nintendo DS engine
  9. Kimera Studios (2006-08) Indie engine
  10. Guided Knowledge (2015) IMU optimization

Books

Favorite technical books studied throughout career.

  1. Statistics for Experimenters (Box, Hunter, Hunter) — Design of experiments, hypothesis testing, confidence intervals
  2. Probabilistic Safety Assessment in the Chemical and Nuclear Industries (Fullwood) — Safety analysis for chemical and nuclear industries
  3. AI Game Programming Wisdom (4 volumes) — Game AI algorithms and techniques
This post is licensed under CC BY 4.0 by the author.