Ha thanks, cool!
Bubsy 3D would have been developed from 1994 through to 1996, using something called "PS-X OS".
Look it up, it reads like Net Yaroze (libgs with CD stuff, etc)!
In Net Yaroze we did have registers info and assembly access to the CPU (R3000.h) but nothing on the GPU nor the GTE, which is what I'm guessing is what Bill refers to as "macros" in the video.
We didn't even get details on the packets in the Order Table (OT), I'm sure it would have been trivial to reverse engineer it though and make your own draw calls, but would probably fail at Sony's Cert Check.
Access to CPU makes sense, as SEGA used their previous CPU's as co processors, ie 68k in the megadrive became the Saturn's audio chip and the same with the master system's SN76489 chip used as audio in the mega drive.
And Sony did just that, the original PS2, PS3 had their predecessor chips on board also.
I'm not sure when Psy-Q came out, but I'd guess to say it was after Bill, 1995?
And nobody would scrap a year of research and coding on a game.
I wouldn't say poor time management, I'd say they didn't have the talent (and Sony contacts) the larger developers Insomniac, Naughty Dog, Eidos, etc had and also being limited to TMD's (libgs).. well you can see why Bubsy 3D and early PS1 games are the way they are
Thanks again.