Do I need to synchronize multiple draw commands? After all, they can access depth and color attachments at the same time.
In a single subpass, no. Otherwise yes.
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But doesn’t each team go through the pipeline stages separately? Or is there some kind of implicit synchronization?
From section 25.2 of the standard:
Within a subpass of a render pass instance, for a given (x,y,layer,sample) sample location, the following operations are guaranteed to execute in rasterization order, for each separate primitive that includes that sample location:
Fragment operations, in the order defined
Blending, logic operations, and color writes
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