diff --git a/.gitattributes b/.gitattributes index 28df5f900b358436f0267334b3e3e9af33f917ba..85e10cbfa61db2cb0cb1ae8aabab3aefa8ee7600 100644 --- a/.gitattributes +++ b/.gitattributes @@ -53,3 +53,31 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.jpg filter=lfs diff=lfs merge=lfs -text *.jpeg filter=lfs diff=lfs merge=lfs -text *.webp filter=lfs diff=lfs merge=lfs -text +bin/3DCarParking.exe filter=lfs diff=lfs merge=lfs -text +bin/3DCarParking.pck filter=lfs diff=lfs merge=lfs -text +bin/3DCarParking.x86_64 filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/Microsoft.CSharp.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/Microsoft.DiaSymReader.Native.amd64.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/clrjit.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/coreclr.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/libclrjit.so filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/libcoreclr.so filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/libmscordaccore.so filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/libmscordbi.so filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/libonnxruntime.so filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/mscordaccore.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/mscordaccore_amd64_amd64_6.0.2523.51912.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/mscordbi.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text +bin/data_3DCarParkingExample_x86_64/ucrtbase.dll filter=lfs diff=lfs merge=lfs -text +scenes/blender/parking.blend filter=lfs diff=lfs merge=lfs -text diff --git a/3DCarParkingExample.csproj b/3DCarParkingExample.csproj new file mode 100644 index 0000000000000000000000000000000000000000..e81c953c058f1bc7baf6171c61980dc534e3f3a1 --- /dev/null +++ b/3DCarParkingExample.csproj @@ -0,0 +1,10 @@ + + + net6.0 + true + GodotRLAgents + + + + + \ No newline at end of file diff --git a/3DCarParkingExample.csproj.old b/3DCarParkingExample.csproj.old new file mode 100644 index 0000000000000000000000000000000000000000..e23d6003ee07b28300ce85ff4af133fd5338a55e --- /dev/null +++ b/3DCarParkingExample.csproj.old @@ -0,0 +1,10 @@ + + + net6.0 + true + GodotRLAgents + + + + + \ No newline at end of file diff --git a/3DCarParkingExample.sln b/3DCarParkingExample.sln new file mode 100644 index 0000000000000000000000000000000000000000..1f815560f1f7013ced25c6187800c1df9d0ab66f --- /dev/null +++ b/3DCarParkingExample.sln @@ -0,0 +1,19 @@ +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2012 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "3DCarParkingExample", "3DCarParkingExample.csproj", "{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|Any CPU = Debug|Any CPU + ExportDebug|Any CPU = ExportDebug|Any CPU + ExportRelease|Any CPU = ExportRelease|Any CPU + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.Debug|Any CPU.Build.0 = Debug|Any CPU + {D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU + {D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU + {D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU + {D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU + EndGlobalSection +EndGlobal diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..062c5d3cddb35608d28377adb5bbc5acde6d6452 --- /dev/null +++ b/README.md @@ -0,0 +1,25 @@ +--- +library_name: godot-rl +tags: +- deep-reinforcement-learning +- reinforcement-learning +- godot-rl +- environments +- video-games +--- + +A RL environment called 3DCarParking for the Godot Game Engine. + +This environment was created with: https://github.com/edbeeching/godot_rl_agents + + +## Downloading the environment + +After installing Godot RL Agents, download the environment with: + +``` +gdrl.env_from_hub -r edbeeching/godot_rl_3DCarParking +``` + + + diff --git a/addons/godot_rl_agents/controller/ai_controller_2d.gd b/addons/godot_rl_agents/controller/ai_controller_2d.gd new file mode 100644 index 0000000000000000000000000000000000000000..e9080f0115c0729a12ace5f712c9e41e7ed252e4 --- /dev/null +++ b/addons/godot_rl_agents/controller/ai_controller_2d.gd @@ -0,0 +1,82 @@ +extends Node2D +class_name AIController2D + +@export var reset_after := 1000 + +var heuristic := "human" +var done := false +var reward := 0.0 +var n_steps := 0 +var needs_reset := false + +var _player: Node2D + +func _ready(): + add_to_group("AGENT") + +func init(player: Node2D): + _player = player + +#-- Methods that need implementing using the "extend script" option in Godot --# +func get_obs() -> Dictionary: + assert(false, "the get_obs method is not implemented when extending from ai_controller") + return {"obs":[]} + +func get_reward() -> float: + assert(false, "the get_reward method is not implemented when extending from ai_controller") + return 0.0 + +func get_action_space() -> Dictionary: + assert(false, "the get get_action_space method is not implemented when extending from ai_controller") + return { + "example_actions_continous" : { + "size": 2, + "action_type": "continuous" + }, + "example_actions_discrete" : { + "size": 2, + "action_type": "discrete" + }, + } + +func set_action(action) -> void: + assert(false, "the get set_action method is not implemented when extending from ai_controller") +# -----------------------------------------------------------------------------# + +func _physics_process(delta): + n_steps += 1 + if n_steps > reset_after: + needs_reset = true + +func get_obs_space(): + # may need overriding if the obs space is complex + var obs = get_obs() + return { + "obs": { + "size": [len(obs["obs"])], + "space": "box" + }, + } + +func reset(): + n_steps = 0 + needs_reset = false + +func reset_if_done(): + if done: + reset() + +func set_heuristic(h): + # sets the heuristic from "human" or "model" nothing to change here + heuristic = h + +func get_done(): + return done + +func set_done_false(): + done = false + +func zero_reward(): + reward = 0.0 + + diff --git a/addons/godot_rl_agents/controller/ai_controller_3d.gd b/addons/godot_rl_agents/controller/ai_controller_3d.gd new file mode 100644 index 0000000000000000000000000000000000000000..eaccd596f5e350b0ff4508a8b3c6be9d771a58e3 --- /dev/null +++ b/addons/godot_rl_agents/controller/ai_controller_3d.gd @@ -0,0 +1,80 @@ +extends Node3D +class_name AIController3D + +@export var reset_after := 1000 + +var heuristic := "human" +var done := false +var reward := 0.0 +var n_steps := 0 +var needs_reset := false + +var _player: Node3D + +func _ready(): + add_to_group("AGENT") + +func init(player: Node3D): + _player = player + +#-- Methods that need implementing using the "extend script" option in Godot --# +func get_obs() -> Dictionary: + assert(false, "the get_obs method is not implemented when extending from ai_controller") + return {"obs":[]} + +func get_reward() -> float: + assert(false, "the get_reward method is not implemented when extending from ai_controller") + return 0.0 + +func get_action_space() -> Dictionary: + assert(false, "the get get_action_space method is not implemented when extending from ai_controller") + return { + "example_actions_continous" : { + "size": 2, + "action_type": "continuous" + }, + "example_actions_discrete" : { + "size": 2, + "action_type": "discrete" + }, + } + +func set_action(action) -> void: + assert(false, "the get set_action method is not implemented when extending from ai_controller") +# -----------------------------------------------------------------------------# + +func _physics_process(delta): + n_steps += 1 + if n_steps > reset_after: + needs_reset = true + +func get_obs_space(): + # may need overriding if the obs space is complex + var obs = get_obs() + return { + "obs": { + "size": [len(obs["obs"])], + "space": "box" + }, + } + +func reset(): + n_steps = 0 + needs_reset = false + +func reset_if_done(): + if done: + reset() + +func set_heuristic(h): + # sets the heuristic from "human" or "model" nothing to change here + heuristic = h + +func get_done(): + return done + +func set_done_false(): + done = false + +func zero_reward(): + reward = 0.0 diff --git a/addons/godot_rl_agents/godot_rl_agents.gd b/addons/godot_rl_agents/godot_rl_agents.gd new file mode 100644 index 0000000000000000000000000000000000000000..e4fe13693a598c808aca1b64051d1c0c70783296 --- /dev/null +++ b/addons/godot_rl_agents/godot_rl_agents.gd @@ -0,0 +1,16 @@ +@tool +extends EditorPlugin + + +func _enter_tree(): + # Initialization of the plugin goes here. + # Add the new type with a name, a parent type, a script and an icon. + add_custom_type("Sync", "Node", preload("sync.gd"), preload("icon.png")) + #add_custom_type("RaycastSensor2D2", "Node", preload("raycast_sensor_2d.gd"), preload("icon.png")) + + +func _exit_tree(): + # Clean-up of the plugin goes here. + # Always remember to remove it from the engine when deactivated. + remove_custom_type("Sync") + #remove_custom_type("RaycastSensor2D2") diff --git a/addons/godot_rl_agents/icon.png b/addons/godot_rl_agents/icon.png new file mode 100644 index 0000000000000000000000000000000000000000..ccb4ca000e3e1cf659fe367ab5bff67c1eb3467d --- /dev/null +++ b/addons/godot_rl_agents/icon.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3a8bc372d3313ce1ede4e7554472e37b322178b9488bfb709e296585abd3c44 +size 198 diff --git a/addons/godot_rl_agents/icon.png.import b/addons/godot_rl_agents/icon.png.import new file mode 100644 index 0000000000000000000000000000000000000000..2b0dbac2e785e3244a96e90647885dc6fd813632 --- /dev/null +++ b/addons/godot_rl_agents/icon.png.import @@ -0,0 +1,34 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://oxyyg84n70hf" +path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex" +metadata={ +"vram_texture": false +} + +[deps] + +source_file="res://addons/godot_rl_agents/icon.png" +dest_files=["res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"] + +[params] + +compress/mode=0 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=false +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=1 diff --git a/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs new file mode 100644 index 0000000000000000000000000000000000000000..0741f0f263f34fffc44993e2b11a7544b0384ca1 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs @@ -0,0 +1,103 @@ +using Godot; +using Microsoft.ML.OnnxRuntime; +using Microsoft.ML.OnnxRuntime.Tensors; +using System.Collections.Generic; +using System.Linq; + +namespace GodotONNX +{ + /// + public partial class ONNXInference : GodotObject + { + + private InferenceSession session; + /// + /// Path to the ONNX model. Use Initialize to change it. + /// + private string modelPath; + private int batchSize; + + private SessionOptions SessionOpt; + + //init function + /// + public void Initialize(string Path, int BatchSize) + { + modelPath = Path; + batchSize = BatchSize; + SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions(); + session = LoadModel(modelPath); + + } + /// + public Godot.Collections.Dictionary> RunInference(Godot.Collections.Array obs, int state_ins) + { + //Current model: Any (Godot Rl Agents) + //Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins + + //Fill the input tensors + // create span from inputSize + var span = new float[obs.Count]; //There's probably a better way to do this + for (int i = 0; i < obs.Count; i++) + { + span[i] = obs[i]; + } + + IReadOnlyCollection inputs = new List + { + NamedOnnxValue.CreateFromTensor("obs", new DenseTensor(span, new int[] { batchSize, obs.Count })), + NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor(new float[] { state_ins }, new int[] { batchSize })) + }; + IReadOnlyCollection outputNames = new List { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names + + IDisposableReadOnlyCollection results; + //We do not use "using" here so we get a better exception explaination later + try + { + results = session.Run(inputs, outputNames); + } + catch (OnnxRuntimeException e) + { + //This error usually means that the model is not compatible with the input, beacause of the input shape (size) + GD.Print("Error at inference: ", e); + return null; + } + //Can't convert IEnumerable to Variant, so we have to convert it to an array or something + Godot.Collections.Dictionary> output = new Godot.Collections.Dictionary>(); + DisposableNamedOnnxValue output1 = results.First(); + DisposableNamedOnnxValue output2 = results.Last(); + Godot.Collections.Array output1Array = new Godot.Collections.Array(); + Godot.Collections.Array output2Array = new Godot.Collections.Array(); + + foreach (float f in output1.AsEnumerable()) + { + output1Array.Add(f); + } + + foreach (float f in output2.AsEnumerable()) + { + output2Array.Add(f); + } + + output.Add(output1.Name, output1Array); + output.Add(output2.Name, output2Array); + + //Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]} + results.Dispose(); + return output; + } + /// + public InferenceSession LoadModel(string Path) + { + using Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read); + byte[] model = file.GetBuffer((int)file.GetLength()); + //file.Close(); file.Dispose(); //Close the file, then dispose the reference. + return new InferenceSession(model, SessionOpt); //Load the model + } + public void FreeDisposables() + { + session.Dispose(); + SessionOpt.Dispose(); + } + } +} diff --git a/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs new file mode 100644 index 0000000000000000000000000000000000000000..ad7a41cfee0dc3d497d9c1d03bd0752b09d49f3a --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs @@ -0,0 +1,131 @@ +using Godot; +using Microsoft.ML.OnnxRuntime; + +namespace GodotONNX +{ + /// + + public static class SessionConfigurator + { + public enum ComputeName + { + CUDA, + ROCm, + DirectML, + CoreML, + CPU + } + + /// + public static SessionOptions MakeConfiguredSessionOptions() + { + SessionOptions sessionOptions = new(); + SetOptions(sessionOptions); + return sessionOptions; + } + + private static void SetOptions(SessionOptions sessionOptions) + { + sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING; + ApplySystemSpecificOptions(sessionOptions); + } + + /// + static public void ApplySystemSpecificOptions(SessionOptions sessionOptions) + { + //Most code for this function is verbose only, the only reason it exists is to track + //implementation progress of the different compute APIs. + + //December 2022: CUDA is not working. + + string OSName = OS.GetName(); //Get OS Name + + //ComputeName ComputeAPI = ComputeCheck(); //Get Compute API + // //TODO: Get CPU architecture + + //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++) + //Windows can use OpenVINO (C#) on x64 + //TODO: try TensorRT instead of CUDA + //TODO: Use OpenVINO for Intel Graphics + + // Temporarily using CPU on all platforms to avoid errors detected with DML + ComputeName ComputeAPI = ComputeName.CPU; + + //match OS and Compute API + GD.Print($"OS: {OSName} Compute API: {ComputeAPI}"); + + // CPU is set by default without appending necessary + // sessionOptions.AppendExecutionProvider_CPU(0); + + /* + switch (OSName) + { + case "Windows": //Can use CUDA, DirectML + if (ComputeAPI is ComputeName.CUDA) + { + //CUDA + //sessionOptions.AppendExecutionProvider_CUDA(0); + //sessionOptions.AppendExecutionProvider_DML(0); + } + else if (ComputeAPI is ComputeName.DirectML) + { + //DirectML + //sessionOptions.AppendExecutionProvider_DML(0); + } + break; + case "X11": //Can use CUDA, ROCm + if (ComputeAPI is ComputeName.CUDA) + { + //CUDA + //sessionOptions.AppendExecutionProvider_CUDA(0); + } + if (ComputeAPI is ComputeName.ROCm) + { + //ROCm, only works on x86 + //Research indicates that this has to be compiled as a GDNative plugin + //GD.Print("ROCm not supported yet, using CPU."); + //sessionOptions.AppendExecutionProvider_CPU(0); + } + break; + case "macOS": //Can use CoreML + if (ComputeAPI is ComputeName.CoreML) + { //CoreML + //TODO: Needs testing + //sessionOptions.AppendExecutionProvider_CoreML(0); + //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub + } + break; + default: + GD.Print("OS not Supported."); + break; + } + */ + } + + + /// + public static ComputeName ComputeCheck() + { + string adapterName = Godot.RenderingServer.GetVideoAdapterName(); + //string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor(); + adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo("")); + //TODO: GPU vendors for MacOS, what do they even use these days? + + if (adapterName.Contains("INTEL")) + { + return ComputeName.DirectML; + } + if (adapterName.Contains("AMD") || adapterName.Contains("RADEON")) + { + return ComputeName.DirectML; + } + if (adapterName.Contains("NVIDIA")) + { + return ComputeName.CUDA; + } + + GD.Print("Graphics Card not recognized."); //Should use CPU + return ComputeName.CPU; + } + } +} diff --git a/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml new file mode 100644 index 0000000000000000000000000000000000000000..91b07d607dc89f11e957e13758d8c0ee4fb72be8 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml @@ -0,0 +1,31 @@ + + + + + The main ONNXInference Class that handles the inference process. + + + + + Starts the inference process. + + Path to the ONNX model, expects a path inside resources. + How many observations will the model recieve. + + + + Runs the given input through the model and returns the output. + + Dictionary containing all observations. + How many different agents are creating these observations. + A Dictionary of arrays, containing instructions based on the observations. + + + + Loads the given model into the inference process, using the best Execution provider available. + + Path to the ONNX model, expects a path inside resources. + InferenceSession ready to run. + + + \ No newline at end of file diff --git a/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml new file mode 100644 index 0000000000000000000000000000000000000000..f160c02f0d4cab92e10f799b6f4c5a71d4d6c0f2 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml @@ -0,0 +1,29 @@ + + + + + The main SessionConfigurator Class that handles the execution options and providers for the inference process. + + + + + Creates a SessionOptions with all available execution providers. + + SessionOptions with all available execution providers. + + + + Appends any execution provider available in the current system. + + + This function is mainly verbose for tracking implementation progress of different compute APIs. + + + + + Checks for available GPUs. + + An integer identifier for each compute platform. + + + \ No newline at end of file diff --git a/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd new file mode 100644 index 0000000000000000000000000000000000000000..c7b14b350db11cb32f433e6b6cff6470d6cda7cf --- /dev/null +++ b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd @@ -0,0 +1,24 @@ +extends Resource +class_name ONNXModel +var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs") + +var inferencer = null + +# Must provide the path to the model and the batch size +func _init(model_path, batch_size): + inferencer = inferencer_script.new() + inferencer.Initialize(model_path, batch_size) + +# This function is the one that will be called from the game, +# requires the observation as an array and the state_ins as an int +# returns an Array containing the action the model takes. +func run_inference(obs : Array, state_ins : int) -> Dictionary: + if inferencer == null: + printerr("Inferencer not initialized") + return {} + return inferencer.RunInference(obs, state_ins) + +func _notification(what): + if what == NOTIFICATION_PREDELETE: + inferencer.FreeDisposables() + inferencer.free() diff --git a/addons/godot_rl_agents/plugin.cfg b/addons/godot_rl_agents/plugin.cfg new file mode 100644 index 0000000000000000000000000000000000000000..b1bc988c80e3fe68e6d4279691fd5892e5ef323d --- /dev/null +++ b/addons/godot_rl_agents/plugin.cfg @@ -0,0 +1,7 @@ +[plugin] + +name="GodotRLAgents" +description="Custom nodes for the godot rl agents toolkit " +author="Edward Beeching" +version="0.1" +script="godot_rl_agents.gd" diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..5edb6c7fc9da56e625d57185bdbafdbcc3fc67c5 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn @@ -0,0 +1,48 @@ +[gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"] + +[sub_resource type="GDScript" id="2"] +script/source = "extends Node2D + + + +func _physics_process(delta: float) -> void: + print(\"step start\") + +" + +[sub_resource type="GDScript" id="1"] +script/source = "extends RayCast2D + +var steps = 1 + +func _physics_process(delta: float) -> void: + print(\"processing raycast\") + steps += 1 + if steps % 2: + force_raycast_update() + + print(is_colliding()) +" + +[sub_resource type="CircleShape2D" id="3"] + +[node name="ExampleRaycastSensor2D" type="Node2D"] +script = SubResource("2") + +[node name="ExampleAgent" type="Node2D" parent="."] +position = Vector2(573, 314) +rotation = 0.286234 + +[node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"] +script = ExtResource("1") + +[node name="TestRayCast2D" type="RayCast2D" parent="."] +script = SubResource("1") + +[node name="StaticBody2D" type="StaticBody2D" parent="."] +position = Vector2(1, 52) + +[node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"] +shape = SubResource("3") diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd new file mode 100644 index 0000000000000000000000000000000000000000..ec20f08a8d37cf1232fc12d8ee4f23b5ba845602 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd @@ -0,0 +1,20 @@ +extends Node2D +class_name ISensor2D + +var _obs : Array = [] +var _active := false + +func get_observation(): + pass + +func activate(): + _active = true + +func deactivate(): + _active = false + +func _update_observation(): + pass + +func reset(): + pass diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd new file mode 100644 index 0000000000000000000000000000000000000000..09363c409f59b0ef1d68131b77c0a2cba71805d8 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd @@ -0,0 +1,118 @@ +@tool +extends ISensor2D +class_name RaycastSensor2D + +@export_flags_2d_physics var collision_mask := 1: + get: return collision_mask + set(value): + collision_mask = value + _update() + +@export var collide_with_areas := false: + get: return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := true: + get: return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export var n_rays := 16.0: + get: return n_rays + set(value): + n_rays = value + _update() + +@export_range(5,200,5.0) var ray_length := 200: + get: return ray_length + set(value): + ray_length = value + _update() +@export_range(5,360,5.0) var cone_width := 360.0: + get: return cone_width + set(value): + cone_width = value + _update() + +@export var debug_draw := true : + get: return debug_draw + set(value): + debug_draw = value + _update() + + +var _angles = [] +var rays := [] + +func _update(): + if Engine.is_editor_hint(): + if debug_draw: + _spawn_nodes() + else: + for ray in get_children(): + if ray is RayCast2D: + remove_child(ray) + +func _ready() -> void: + _spawn_nodes() + +func _spawn_nodes(): + for ray in rays: + ray.queue_free() + rays = [] + + _angles = [] + var step = cone_width / (n_rays) + var start = step/2 - cone_width/2 + + for i in n_rays: + var angle = start + i * step + var ray = RayCast2D.new() + ray.set_target_position(Vector2( + ray_length*cos(deg_to_rad(angle)), + ray_length*sin(deg_to_rad(angle)) + )) + ray.set_name("node_"+str(i)) + ray.enabled = true + ray.collide_with_areas = collide_with_areas + ray.collide_with_bodies = collide_with_bodies + ray.collision_mask = collision_mask + add_child(ray) + rays.append(ray) + + + _angles.append(start + i * step) + + +func _physics_process(delta: float) -> void: + if self._active: + self._obs = calculate_raycasts() + +func get_observation() -> Array: + if len(self._obs) == 0: + print("obs was null, forcing raycast update") + return self.calculate_raycasts() + return self._obs + + +func calculate_raycasts() -> Array: + var result = [] + for ray in rays: + ray.force_raycast_update() + var distance = _get_raycast_distance(ray) + result.append(distance) + return result + +func _get_raycast_distance(ray : RayCast2D) -> float : + if !ray.is_colliding(): + return 0.0 + + var distance = (global_position - ray.get_collision_point()).length() + distance = clamp(distance, 0.0, ray_length) + return (ray_length - distance) / ray_length + + + diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..5ca402c08305efedbfc6afd0a1893a0ca2e11cfd --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn @@ -0,0 +1,7 @@ +[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"] + +[node name="RaycastSensor2D" type="Node2D"] +script = ExtResource("1") +n_rays = 17.0 diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..a8057c7619cbb835709d2704074b0d5ebfa00a0c --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn @@ -0,0 +1,6 @@ +[gd_scene format=3 uid="uid://biu787qh4woik"] + +[node name="ExampleRaycastSensor3D" type="Node3D"] + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.804183, 0, 2.70146) diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..d57503b5006e9384c4a9ce7de348d74a5b58d322 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd @@ -0,0 +1,20 @@ +extends Node3D +class_name ISensor3D + +var _obs : Array = [] +var _active := false + +func get_observation(): + pass + +func activate(): + _active = true + +func deactivate(): + _active = false + +func _update_observation(): + pass + +func reset(): + pass diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..959bc5a7e07b09a526e52671d91dee30813da962 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd @@ -0,0 +1,11 @@ +extends Node3D +class_name RGBCameraSensor3D +var camera_pixels = null + +@onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D + +func get_camera_pixel_encoding(): + return camera_texture.get_texture().get_data().data["data"].hex_encode() + +func get_camera_shape()-> Array: + return [$SubViewport.size[0], $SubViewport.size[1], 4] diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..f895072aa593ddd43b4543a385748734550eb7c1 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn @@ -0,0 +1,42 @@ +[gd_scene load_steps=3 format=2] + +[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" id=1] + +[sub_resource type="ViewportTexture" id=1] +viewport_path = NodePath("SubViewport") + +[node name="RGBCameraSensor3D" type="Node3D"] +script = ExtResource( 1 ) + +[node name="RemoteTransform3D" type="RemoteTransform3D" parent="."] +remote_path = NodePath("../SubViewport/Camera3D") + +[node name="SubViewport" type="SubViewport" parent="."] +size = Vector2( 32, 32 ) +render_target_update_mode = 3 + +[node name="Camera3D" type="Camera3D" parent="SubViewport"] +near = 0.5 + +[node name="Control" type="Control" parent="."] +anchor_right = 1.0 +anchor_bottom = 1.0 +__meta__ = { +"_edit_use_anchors_": false +} + +[node name="TextureRect" type="ColorRect" parent="Control"] +offset_left = 1096.0 +offset_top = 534.0 +offset_right = 1114.0 +offset_bottom = 552.0 +scale = Vector2( 10, 10 ) +color = Color( 0.00784314, 0.00784314, 0.00784314, 1 ) +__meta__ = { +"_edit_use_anchors_": false +} + +[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"] +texture = SubResource( 1 ) +offset = Vector2( 9, 9 ) +flip_v = true diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..ab701d982b0381b41e528cf1218e13fc0269d3ce --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd @@ -0,0 +1,166 @@ +@tool +extends ISensor3D +class_name RayCastSensor3D +@export_flags_3d_physics var collision_mask = 1: + get: return collision_mask + set(value): + collision_mask = value + _update() +@export_flags_3d_physics var boolean_class_mask = 1: + get: return boolean_class_mask + set(value): + boolean_class_mask = value + _update() + +@export var n_rays_width := 6.0: + get: return n_rays_width + set(value): + n_rays_width = value + _update() + +@export var n_rays_height := 6.0: + get: return n_rays_height + set(value): + n_rays_height = value + _update() + +@export var ray_length := 10.0: + get: return ray_length + set(value): + ray_length = value + _update() + +@export var cone_width := 60.0: + get: return cone_width + set(value): + cone_width = value + _update() + +@export var cone_height := 60.0: + get: return cone_height + set(value): + cone_height = value + _update() + +@export var collide_with_areas := false: + get: return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := true: + get: return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export var class_sensor := false + +var rays := [] +var geo = null + +func _update(): + if Engine.is_editor_hint(): + if is_node_ready(): + _spawn_nodes() + +func _ready() -> void: + if Engine.is_editor_hint(): + if get_child_count() == 0: + _spawn_nodes() + else: + _spawn_nodes() + +func _spawn_nodes(): + print("spawning nodes") + for ray in get_children(): + ray.queue_free() + if geo: + geo.clear() + #$Lines.remove_points() + rays = [] + + var horizontal_step = cone_width / (n_rays_width) + var vertical_step = cone_height / (n_rays_height) + + var horizontal_start = horizontal_step/2 - cone_width/2 + var vertical_start = vertical_step/2 - cone_height/2 + + var points = [] + + for i in n_rays_width: + for j in n_rays_height: + var angle_w = horizontal_start + i * horizontal_step + var angle_h = vertical_start + j * vertical_step + #angle_h = 0.0 + var ray = RayCast3D.new() + var cast_to = to_spherical_coords(ray_length, angle_w, angle_h) + ray.set_target_position(cast_to) + + points.append(cast_to) + + ray.set_name("node_"+str(i)+" "+str(j)) + ray.enabled = true + ray.collide_with_bodies = collide_with_bodies + ray.collide_with_areas = collide_with_areas + ray.collision_mask = collision_mask + add_child(ray) + ray.set_owner(get_tree().edited_scene_root) + rays.append(ray) + ray.force_raycast_update() + +# if Engine.editor_hint: +# _create_debug_lines(points) + +func _create_debug_lines(points): + if not geo: + geo = ImmediateMesh.new() + add_child(geo) + + geo.clear() + geo.begin(Mesh.PRIMITIVE_LINES) + for point in points: + geo.set_color(Color.AQUA) + geo.add_vertex(Vector3.ZERO) + geo.add_vertex(point) + geo.end() + +func display(): + if geo: + geo.display() + +func to_spherical_coords(r, inc, azimuth) -> Vector3: + return Vector3( + r*sin(deg_to_rad(inc))*cos(deg_to_rad(azimuth)), + r*sin(deg_to_rad(azimuth)), + r*cos(deg_to_rad(inc))*cos(deg_to_rad(azimuth)) + ) + +func get_observation() -> Array: + return self.calculate_raycasts() + +func calculate_raycasts() -> Array: + var result = [] + for ray in rays: + ray.set_enabled(true) + ray.force_raycast_update() + var distance = _get_raycast_distance(ray) + + result.append(distance) + if class_sensor: + var hit_class = 0 + if ray.get_collider(): + var hit_collision_layer = ray.get_collider().collision_layer + hit_collision_layer = hit_collision_layer & collision_mask + hit_class = (hit_collision_layer & boolean_class_mask) > 0 + result.append(hit_class) + ray.set_enabled(false) + return result + +func _get_raycast_distance(ray : RayCast3D) -> float : + if !ray.is_colliding(): + return 0.0 + + var distance = (global_transform.origin - ray.get_collision_point()).length() + distance = clamp(distance, 0.0, ray_length) + return (ray_length - distance) / ray_length diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..39aa7c645d3a093cdd02408a62cfac507949ded7 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn @@ -0,0 +1,33 @@ +[gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="1"] + +[node name="RaycastSensor3D" type="Node3D"] +script = ExtResource("1") +n_rays_width = 4.0 +n_rays_height = 2.0 +ray_length = 11.0 + +[node name="@node_0 0@18991" type="RayCast3D" parent="."] +target_position = Vector3(-4.06608, -2.84701, 9.81639) + +[node name="node_0 1" type="RayCast3D" parent="."] +target_position = Vector3(-4.06608, 2.84701, 9.81639) + +[node name="@node_1 0@18992" type="RayCast3D" parent="."] +target_position = Vector3(-1.38686, -2.84701, 10.5343) + +[node name="@node_1 1@18993" type="RayCast3D" parent="."] +target_position = Vector3(-1.38686, 2.84701, 10.5343) + +[node name="@node_2 0@18994" type="RayCast3D" parent="."] +target_position = Vector3(1.38686, -2.84701, 10.5343) + +[node name="@node_2 1@18995" type="RayCast3D" parent="."] +target_position = Vector3(1.38686, 2.84701, 10.5343) + +[node name="@node_3 0@18996" type="RayCast3D" parent="."] +target_position = Vector3(4.06608, -2.84701, 9.81639) + +[node name="@node_3 1@18997" type="RayCast3D" parent="."] +target_position = Vector3(4.06608, 2.84701, 9.81639) diff --git a/addons/godot_rl_agents/sync.gd b/addons/godot_rl_agents/sync.gd new file mode 100644 index 0000000000000000000000000000000000000000..d710951ab8a1a9ea44c48717d2193a7249283139 --- /dev/null +++ b/addons/godot_rl_agents/sync.gd @@ -0,0 +1,338 @@ +extends Node +# --fixed-fps 2000 --disable-render-loop +@export_range(1, 10, 1, "or_greater") var action_repeat := 8 +@export_range(1, 10, 1, "or_greater") var speed_up = 1 +@export var onnx_model_path := "" + +@onready var start_time = Time.get_ticks_msec() + +const MAJOR_VERSION := "0" +const MINOR_VERSION := "3" +const DEFAULT_PORT := "11008" +const DEFAULT_SEED := "1" +var stream : StreamPeerTCP = null +var connected = false +var message_center +var should_connect = true +var agents +var need_to_send_obs = false +var args = null +var initialized = false +var just_reset = false +var onnx_model = null +var n_action_steps = 0 + +var _action_space : Dictionary +var _obs_space : Dictionary + +# Called when the node enters the scene tree for the first time. + +func _ready(): + await get_tree().root.ready + get_tree().set_pause(true) + _initialize() + await get_tree().create_timer(1.0).timeout + get_tree().set_pause(false) + +func _initialize(): + _get_agents() + _obs_space = agents[0].get_obs_space() + _action_space = agents[0].get_action_space() + args = _get_args() + Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body. + Engine.time_scale = _get_speedup() * 1.0 + prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up) + + # Run inference if onnx model path is set, otherwise wait for server connection + var run_onnx_model_inference : bool = onnx_model_path != "" + if run_onnx_model_inference: + assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: " + onnx_model_path) + onnx_model = ONNXModel.new(onnx_model_path, 1) + _set_heuristic("model") + else: + connected = connect_to_server() + if connected: + _set_heuristic("model") + _handshake() + _send_env_info() + else: + _set_heuristic("human") + + _set_seed() + _set_action_repeat() + initialized = true + +func _physics_process(delta): + # two modes, human control, agent control + # pause tree, send obs, get actions, set actions, unpause tree + if n_action_steps % action_repeat != 0: + n_action_steps += 1 + return + + n_action_steps += 1 + + if connected: + get_tree().set_pause(true) + + if just_reset: + just_reset = false + var obs = _get_obs_from_agents() + + var reply = { + "type": "reset", + "obs": obs + } + _send_dict_as_json_message(reply) + # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick + get_tree().set_pause(false) + return + + if need_to_send_obs: + need_to_send_obs = false + var reward = _get_reward_from_agents() + var done = _get_done_from_agents() + #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR + + var obs = _get_obs_from_agents() + + var reply = { + "type": "step", + "obs": obs, + "reward": reward, + "done": done + } + _send_dict_as_json_message(reply) + + var handled = handle_message() + + elif onnx_model != null: + var obs : Array = _get_obs_from_agents() + + var actions = [] + for o in obs: + var action = onnx_model.run_inference(o["obs"], 1.0) + action["output"] = clamp_array(action["output"], -1.0, 1.0) + var action_dict = _extract_action_dict(action["output"]) + actions.append(action_dict) + + _set_agent_actions(actions) + need_to_send_obs = true + get_tree().set_pause(false) + _reset_agents_if_done() + + else: + _reset_agents_if_done() + +func _extract_action_dict(action_array: Array): + var index = 0 + var result = {} + for key in _action_space.keys(): + var size = _action_space[key]["size"] + if _action_space[key]["action_type"] == "discrete": + result[key] = round(action_array[index]) + else: + result[key] = action_array.slice(index,index+size) + index += size + + return result + +func _get_agents(): + agents = get_tree().get_nodes_in_group("AGENT") + +func _set_heuristic(heuristic): + for agent in agents: + agent.set_heuristic(heuristic) + +func _handshake(): + print("performing handshake") + + var json_dict = _get_dict_json_message() + assert(json_dict["type"] == "handshake") + var major_version = json_dict["major_version"] + var minor_version = json_dict["minor_version"] + if major_version != MAJOR_VERSION: + print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION) + if minor_version != MINOR_VERSION: + print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION) + + print("handshake complete") + +func _get_dict_json_message(): + # returns a dictionary from of the most recent message + # this is not waiting + while stream.get_available_bytes() == 0: + stream.poll() + if stream.get_status() != 2: + print("server disconnected status, closing") + get_tree().quit() + return null + + OS.delay_usec(10) + + var message = stream.get_string() + var json_data = JSON.parse_string(message) + + return json_data + +func _send_dict_as_json_message(dict): + stream.put_string(JSON.stringify(dict)) + +func _send_env_info(): + var json_dict = _get_dict_json_message() + assert(json_dict["type"] == "env_info") + + + var message = { + "type" : "env_info", + "observation_space": _obs_space, + "action_space":_action_space, + "n_agents": len(agents) + } + _send_dict_as_json_message(message) + +func connect_to_server(): + print("Waiting for one second to allow server to start") + OS.delay_msec(1000) + print("trying to connect to server") + stream = StreamPeerTCP.new() + + # "localhost" was not working on windows VM, had to use the IP + var ip = "127.0.0.1" + var port = _get_port() + var connect = stream.connect_to_host(ip, port) + stream.set_no_delay(true) # TODO check if this improves performance or not + stream.poll() + # Fetch the status until it is either connected (2) or failed to connect (3) + while stream.get_status() < 2: + stream.poll() + return stream.get_status() == 2 + +func _get_args(): + print("getting command line arguments") + var arguments = {} + for argument in OS.get_cmdline_args(): + print(argument) + if argument.find("=") > -1: + var key_value = argument.split("=") + arguments[key_value[0].lstrip("--")] = key_value[1] + else: + # Options without an argument will be present in the dictionary, + # with the value set to an empty string. + arguments[argument.lstrip("--")] = "" + + return arguments + +func _get_speedup(): + print(args) + return args.get("speedup", str(speed_up)).to_int() + +func _get_port(): + return args.get("port", DEFAULT_PORT).to_int() + +func _set_seed(): + var _seed = args.get("env_seed", DEFAULT_SEED).to_int() + seed(_seed) + +func _set_action_repeat(): + action_repeat = args.get("action_repeat", str(action_repeat)).to_int() + +func disconnect_from_server(): + stream.disconnect_from_host() + + + +func handle_message() -> bool: + # get json message: reset, step, close + var message = _get_dict_json_message() + if message["type"] == "close": + print("received close message, closing game") + get_tree().quit() + get_tree().set_pause(false) + return true + + if message["type"] == "reset": + print("resetting all agents") + _reset_all_agents() + just_reset = true + get_tree().set_pause(false) + #print("resetting forcing draw") +# RenderingServer.force_draw() +# var obs = _get_obs_from_agents() +# print("obs ", obs) +# var reply = { +# "type": "reset", +# "obs": obs +# } +# _send_dict_as_json_message(reply) + return true + + if message["type"] == "call": + var method = message["method"] + var returns = _call_method_on_agents(method) + var reply = { + "type": "call", + "returns": returns + } + print("calling method from Python") + _send_dict_as_json_message(reply) + return handle_message() + + if message["type"] == "action": + var action = message["action"] + _set_agent_actions(action) + need_to_send_obs = true + get_tree().set_pause(false) + return true + + print("message was not handled") + return false + +func _call_method_on_agents(method): + var returns = [] + for agent in agents: + returns.append(agent.call(method)) + + return returns + + +func _reset_agents_if_done(): + for agent in agents: + if agent.get_done(): + agent.set_done_false() + +func _reset_all_agents(): + for agent in agents: + agent.needs_reset = true + #agent.reset() + +func _get_obs_from_agents(): + var obs = [] + for agent in agents: + obs.append(agent.get_obs()) + + return obs + +func _get_reward_from_agents(): + var rewards = [] + for agent in agents: + rewards.append(agent.get_reward()) + agent.zero_reward() + return rewards + +func _get_done_from_agents(): + var dones = [] + for agent in agents: + var done = agent.get_done() + if done: agent.set_done_false() + dones.append(done) + return dones + +func _set_agent_actions(actions): + for i in range(len(actions)): + agents[i].set_action(actions[i]) + +func clamp_array(arr : Array, min:float, max:float): + var output : Array = [] + for a in arr: + output.append(clamp(a, min, max)) + return output diff --git a/bin/3DCarParking.console.exe b/bin/3DCarParking.console.exe new file mode 100644 index 0000000000000000000000000000000000000000..6812efef0c56973a0e6383bfc2dafb256aaf7f5d Binary files /dev/null and b/bin/3DCarParking.console.exe differ diff --git a/bin/3DCarParking.exe b/bin/3DCarParking.exe new file mode 100644 index 0000000000000000000000000000000000000000..62761e27dbebeb81e784fabf62399c91697ef02a --- /dev/null +++ b/bin/3DCarParking.exe @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2de407f42a3db0dece9ff075b69219a30493b90c67f0a14bc450b414fba39125 +size 71425536 diff --git a/bin/3DCarParking.pck b/bin/3DCarParking.pck new file mode 100644 index 0000000000000000000000000000000000000000..469d33a5d351b33d909ed304584274f85fc99515 --- /dev/null +++ b/bin/3DCarParking.pck @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87760f0286ec08eb352da01bfeb077310335f26a7a40a774eda072688c4ab7af +size 1210096 diff --git a/bin/3DCarParking.sh b/bin/3DCarParking.sh new file mode 100644 index 0000000000000000000000000000000000000000..271c920170c34d126fb349eaf7602a0a4b73ecbf --- /dev/null +++ b/bin/3DCarParking.sh @@ -0,0 +1,4 @@ +#!/bin/sh +echo -ne '\033c\033]0;3DCarParkingExample\a' +base_path="$(dirname "$(realpath "$0")")" +"$base_path/3DCarParking.x86_64" "$@" diff --git a/bin/3DCarParking.x86_64 b/bin/3DCarParking.x86_64 new file mode 100644 index 0000000000000000000000000000000000000000..f57aa307e5048204663004352aa7653ff26ad383 --- /dev/null +++ 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0000000000000000000000000000000000000000..a3e173812ba8f2ec01da6a40043dcf586ef15698 --- /dev/null +++ b/export_presets.cfg @@ -0,0 +1,105 @@ +[preset.0] + +name="Linux/X11" +platform="Linux/X11" +runnable=true +dedicated_server=false +custom_features="" +export_filter="all_resources" +include_filter="" +exclude_filter="" +export_path="bin/3DCarParking.x86_64" +encryption_include_filters="" +encryption_exclude_filters="" +encrypt_pck=false +encrypt_directory=false + +[preset.0.options] + +custom_template/debug="" +custom_template/release="" +debug/export_console_wrapper=1 +binary_format/embed_pck=false +texture_format/bptc=true +texture_format/s3tc=true +texture_format/etc=false +texture_format/etc2=false +binary_format/architecture="x86_64" +ssh_remote_deploy/enabled=false +ssh_remote_deploy/host="user@host_ip" +ssh_remote_deploy/port="22" +ssh_remote_deploy/extra_args_ssh="" +ssh_remote_deploy/extra_args_scp="" +ssh_remote_deploy/run_script="#!/usr/bin/env bash +export DISPLAY=:0 +unzip -o -q \"{temp_dir}/{archive_name}\" -d \"{temp_dir}\" +\"{temp_dir}/{exe_name}\" {cmd_args}" +ssh_remote_deploy/cleanup_script="#!/usr/bin/env bash +kill $(pgrep -x -f \"{temp_dir}/{exe_name} {cmd_args}\") +rm -rf \"{temp_dir}\"" +dotnet/include_scripts_content=false +dotnet/include_debug_symbols=true + +[preset.1] + +name="Windows Desktop" +platform="Windows Desktop" +runnable=true +dedicated_server=false +custom_features="" +export_filter="all_resources" +include_filter="" +exclude_filter="" +export_path="bin/3DCarParking.exe" +encryption_include_filters="" +encryption_exclude_filters="" +encrypt_pck=false +encrypt_directory=false + +[preset.1.options] + +custom_template/debug="" +custom_template/release="" +debug/export_console_wrapper=1 +binary_format/embed_pck=false +texture_format/bptc=true +texture_format/s3tc=true +texture_format/etc=false +texture_format/etc2=false +binary_format/architecture="x86_64" +codesign/enable=false +codesign/timestamp=true +codesign/timestamp_server_url="" +codesign/digest_algorithm=1 +codesign/description="" +codesign/custom_options=PackedStringArray() +application/modify_resources=true +application/icon="" +application/console_wrapper_icon="" +application/icon_interpolation=4 +application/file_version="" +application/product_version="" +application/company_name="" +application/product_name="" +application/file_description="" +application/copyright="" +application/trademarks="" +ssh_remote_deploy/enabled=false +ssh_remote_deploy/host="user@host_ip" +ssh_remote_deploy/port="22" +ssh_remote_deploy/extra_args_ssh="" +ssh_remote_deploy/extra_args_scp="" +ssh_remote_deploy/run_script="Expand-Archive -LiteralPath '{temp_dir}\\{archive_name}' -DestinationPath '{temp_dir}' +$action = New-ScheduledTaskAction -Execute '{temp_dir}\\{exe_name}' -Argument '{cmd_args}' +$trigger = New-ScheduledTaskTrigger -Once -At 00:00 +$settings = New-ScheduledTaskSettingsSet +$task = New-ScheduledTask -Action $action -Trigger $trigger -Settings $settings +Register-ScheduledTask godot_remote_debug -InputObject $task -Force:$true +Start-ScheduledTask -TaskName godot_remote_debug +while (Get-ScheduledTask -TaskName godot_remote_debug | ? State -eq running) { Start-Sleep -Milliseconds 100 } +Unregister-ScheduledTask -TaskName godot_remote_debug -Confirm:$false -ErrorAction:SilentlyContinue" +ssh_remote_deploy/cleanup_script="Stop-ScheduledTask -TaskName godot_remote_debug -ErrorAction:SilentlyContinue +Unregister-ScheduledTask -TaskName godot_remote_debug -Confirm:$false -ErrorAction:SilentlyContinue +Remove-Item -Recurse -Force '{temp_dir}'" +dotnet/include_scripts_content=false +dotnet/include_debug_symbols=true diff --git a/icon.svg b/icon.svg new file mode 100644 index 0000000000000000000000000000000000000000..adc26df6c2cd666478b85216d4a6d93f61680cb7 --- /dev/null +++ b/icon.svg @@ -0,0 +1 @@ + diff --git a/icon.svg.import b/icon.svg.import new file mode 100644 index 0000000000000000000000000000000000000000..1d4d985e0c2f4be406334d742acdfdf7a1eb0c23 --- /dev/null +++ b/icon.svg.import @@ -0,0 +1,37 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://wkouamn0gojf" +path="res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex" +metadata={ +"vram_texture": false +} + +[deps] + +source_file="res://icon.svg" +dest_files=["res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"] + +[params] + +compress/mode=0 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=false +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=1 +svg/scale=1.0 +editor/scale_with_editor_scale=false +editor/convert_colors_with_editor_theme=false diff --git a/onnx/model.onnx b/onnx/model.onnx new file mode 100644 index 0000000000000000000000000000000000000000..992e9e8d56f7b8879d5f87e00ae17ec07a647655 --- /dev/null +++ b/onnx/model.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:902d0d267b3404a52b82cc90acefd0b5b1afea89965e3887a4a3b578bf84a4db +size 25805 diff --git a/project.godot b/project.godot new file mode 100644 index 0000000000000000000000000000000000000000..90fed454023facfab7029bd11e50ff36dc45979f --- /dev/null +++ b/project.godot @@ -0,0 +1,52 @@ +; Engine configuration file. +; It's best edited using the editor UI and not directly, +; since the parameters that go here are not all obvious. +; +; Format: +; [section] ; section goes between [] +; param=value ; assign values to parameters + +config_version=5 + +[application] + +config/name="3DCarParkingExample" +config/description="An example of a simple 3d car parking RL environment. " +run/main_scene="res://scenes/TestingScene.tscn" +config/features=PackedStringArray("4.1", "C#", "Forward Plus") +config/icon="res://icon.svg" + +[dotnet] + +project/assembly_name="3DCarParkingExample" + +[editor_plugins] + +enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg") + +[input] + +move_forward={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194320,"key_label":0,"unicode":0,"echo":false,"script":null) +] +} +move_backward={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194322,"key_label":0,"unicode":0,"echo":false,"script":null) +] +} +steer_left={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194319,"key_label":0,"unicode":0,"echo":false,"script":null) +] +} +steer_right={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"key_label":0,"unicode":0,"echo":false,"script":null) +] +} diff --git a/readme-license.md b/readme-license.md new file mode 100644 index 0000000000000000000000000000000000000000..871c77f1f435a5d0d3b56b756df42c3e611dd0ef --- /dev/null +++ b/readme-license.md @@ -0,0 +1,5 @@ +Simple 3D car parking environment made by Ivan-267 using Godot, Godot RL Agents, and Blender. + +The following license is only for the assets in the folder "scenes\blender": +Author: https://github.com/Ivan-267 +License: https://creativecommons.org/licenses/by/4.0/ \ No newline at end of file diff --git a/scenes/TestingScene.tscn b/scenes/TestingScene.tscn new file mode 100644 index 0000000000000000000000000000000000000000..1be522245d7bc0f79b2d89e71c9f0b735e30fc09 --- /dev/null +++ b/scenes/TestingScene.tscn @@ -0,0 +1,65 @@ +[gd_scene load_steps=8 format=3 uid="uid://00lmrvmkwpim"] + +[ext_resource type="PackedScene" uid="uid://ca6csk8y5nvuu" path="res://scenes/game_scene/GameScene.tscn" id="1_cnrg2"] +[ext_resource type="Script" path="res://scenes/sync_override.gd" id="2_xg13p"] + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_vwcdc"] +resource_local_to_scene = true +shading_mode = 0 +albedo_color = Color(1, 0, 0, 1) + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_k2b80"] +resource_local_to_scene = true +shading_mode = 0 + +[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_g5l5s"] + +[sub_resource type="Sky" id="Sky_a413c"] +sky_material = SubResource("ProceduralSkyMaterial_g5l5s") + +[sub_resource type="Environment" id="Environment_x2xl3"] +background_mode = 2 +background_energy_multiplier = 1.2 +sky = SubResource("Sky_a413c") +sdfgi_enabled = true +glow_enabled = true +glow_bloom = 0.02 +volumetric_fog_density = 0.01 + +[node name="TrainingScene" type="Node3D"] + +[node name="GameScene" parent="." instance=ExtResource("1_cnrg2")] + +[node name="Car" parent="GameScene" index="0"] +braking_material = SubResource("StandardMaterial3D_vwcdc") +reversing_material = SubResource("StandardMaterial3D_k2b80") + +[node name="Camera3D" type="Camera3D" parent="GameScene/Car" index="8"] +transform = Transform3D(-1, 2.99003e-08, -8.21505e-08, 0, 0.939693, 0.34202, 8.74228e-08, 0.34202, -0.939693, 0, 1.63, -2.105) +current = true +fov = 100.0 + +[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] +transform = Transform3D(0.857167, 0.364187, -0.364187, 0, 0.707107, 0.707107, 0.515038, -0.606109, 0.606109, 0, 0, 0) +shadow_enabled = true + +[node name="WorldEnvironment" type="WorldEnvironment" parent="."] +environment = SubResource("Environment_x2xl3") + +[node name="Sync" type="Node" parent="."] +script = ExtResource("2_xg13p") +speed_up = 3 + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(0.999998, 0.0014048, -0.00103571, 0, 0.593419, 0.804894, 0.00174533, -0.804893, 0.593418, 0, 11.05, 9.648) +current = true +fov = 80.0 +size = 20.0 + +[node name="Camera3D2" type="Camera3D" parent="."] +transform = Transform3D(0.707106, 0.294355, -0.642927, 0, 0.909236, 0.416281, 0.707106, -0.294355, 0.642927, -7, 2.28, 7) +fov = 91.6 +size = 20.0 + +[editable path="GameScene"] +[editable path="GameScene/Parking"] diff --git a/scenes/TrainingScene.tscn b/scenes/TrainingScene.tscn new file mode 100644 index 0000000000000000000000000000000000000000..742c48e0e28be62b1f6fe4aa9b57cb0d3ee9e8d9 --- /dev/null +++ b/scenes/TrainingScene.tscn @@ -0,0 +1,128 @@ +[gd_scene load_steps=6 format=3 uid="uid://b4f2hcn0g5vjg"] + +[ext_resource type="PackedScene" uid="uid://ca6csk8y5nvuu" path="res://scenes/game_scene/GameScene.tscn" id="1_vdknj"] +[ext_resource type="Script" path="res://scenes/sync_override.gd" id="2_p6jfa"] + +[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_g5l5s"] + +[sub_resource type="Sky" id="Sky_a413c"] +sky_material = SubResource("ProceduralSkyMaterial_g5l5s") + +[sub_resource type="Environment" id="Environment_xy0xn"] +background_mode = 2 +background_energy_multiplier = 1.2 +sky = SubResource("Sky_a413c") +volumetric_fog_density = 0.01 + +[node name="TrainingScene" type="Node3D"] + +[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] +transform = Transform3D(0.857167, 0.364187, -0.364187, 0, 0.707107, 0.707107, 0.515038, -0.606109, 0.606109, 0, 0, 0) +shadow_enabled = true + +[node name="GameScene" parent="." instance=ExtResource("1_vdknj")] + +[node name="GameScene2" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 0) + +[node name="GameScene3" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 0) + +[node name="GameScene4" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 37) + +[node name="GameScene5" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 37) + +[node name="GameScene6" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 37) + +[node name="GameScene7" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 71) + +[node name="GameScene8" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 71) + +[node name="GameScene9" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 71) + +[node name="GameScene10" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 101) + +[node name="GameScene11" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 101) + +[node name="GameScene12" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 101) + +[node name="GameScene13" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 0) + +[node name="GameScene14" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 0) + +[node name="GameScene15" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 0) + +[node name="GameScene16" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 37) + +[node name="GameScene17" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 37) + +[node name="GameScene18" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 37) + +[node name="GameScene19" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 71) + +[node name="GameScene20" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 71) + +[node name="GameScene21" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 71) + +[node name="GameScene22" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 101) + +[node name="GameScene23" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 101) + +[node name="GameScene24" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 101) + +[node name="GameScene25" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -134.151, 0, 0) + +[node name="GameScene26" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -86.1509, 0, 0) + +[node name="GameScene27" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 0) + +[node name="GameScene28" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -134.151, 0, 37) + +[node name="GameScene29" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -86.1509, 0, 37) + +[node name="GameScene30" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 37) + +[node name="GameScene31" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 99) + +[node name="GameScene32" parent="." instance=ExtResource("1_vdknj")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 72) + +[node name="WorldEnvironment" type="WorldEnvironment" parent="."] +environment = SubResource("Environment_xy0xn") + +[node name="Sync" type="Node" parent="."] +script = ExtResource("2_p6jfa") +speed_up = 10 + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(0.999998, 0.0014048, -0.00103571, 0, 0.593419, 0.804894, 0.00174533, -0.804893, 0.593418, 0.695, 11.05, 9.648) +fov = 80.0 +size = 20.0 diff --git a/scenes/blender/car_base.blend b/scenes/blender/car_base.blend new file mode 100644 index 0000000000000000000000000000000000000000..e933a53b3587b27a6400274dd09b63778460bea0 Binary files /dev/null and b/scenes/blender/car_base.blend differ diff --git a/scenes/blender/car_base.blend.import b/scenes/blender/car_base.blend.import new file mode 100644 index 0000000000000000000000000000000000000000..02090f618bac169b6ed436d40ee994a4a18c1307 --- /dev/null +++ b/scenes/blender/car_base.blend.import @@ -0,0 +1,48 @@ +[remap] + +importer="scene" +importer_version=1 +type="PackedScene" +uid="uid://jhl1y3vi13jp" +path="res://.godot/imported/car_base.blend-d9f62a57eda3c9dd4112c044b073ef67.scn" + +[deps] + +source_file="res://scenes/blender/car_base.blend" +dest_files=["res://.godot/imported/car_base.blend-d9f62a57eda3c9dd4112c044b073ef67.scn"] + +[params] + +nodes/root_type="Node3D" 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a/scenes/blender/grass.png b/scenes/blender/grass.png new file mode 100644 index 0000000000000000000000000000000000000000..da288361730ccadbac95a344e3b44c6ee4589c42 --- /dev/null +++ b/scenes/blender/grass.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:814d1330279a614636d5ed10bf0c906d1054d4c0f64cda93a35fda78bf3e6844 +size 57940 diff --git a/scenes/blender/grass.png.import b/scenes/blender/grass.png.import new file mode 100644 index 0000000000000000000000000000000000000000..b60eb5dd73e12cb76314666d3376da8e210300e0 --- /dev/null +++ b/scenes/blender/grass.png.import @@ -0,0 +1,35 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://duybwk10xbtyf" +path.s3tc="res://.godot/imported/grass.png-7c617fb5db3243f7f52630deb8ecd10d.s3tc.ctex" +metadata={ +"imported_formats": ["s3tc_bptc"], +"vram_texture": true +} + +[deps] + +source_file="res://scenes/blender/grass.png" +dest_files=["res://.godot/imported/grass.png-7c617fb5db3243f7f52630deb8ecd10d.s3tc.ctex"] + +[params] + +compress/mode=2 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=true +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=0 diff --git a/scenes/blender/grass2.png b/scenes/blender/grass2.png new file mode 100644 index 0000000000000000000000000000000000000000..9df4fdcd4b2299e6068bd90f03f0eab5af3ce97c --- /dev/null +++ b/scenes/blender/grass2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85a3e266438c8ebf37c370d74219331ac3c68deaa1144d00f6d582c293c7ada3 +size 55166 diff --git a/scenes/blender/grass2.png.import b/scenes/blender/grass2.png.import new file mode 100644 index 0000000000000000000000000000000000000000..7c4224c22e4edac983268d2055076dd7d6ef7273 --- /dev/null +++ b/scenes/blender/grass2.png.import @@ -0,0 +1,35 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://db1m0ivjpge2r" +path.s3tc="res://.godot/imported/grass2.png-13075032ae2094613507ba9816836ec0.s3tc.ctex" +metadata={ +"imported_formats": ["s3tc_bptc"], +"vram_texture": true +} + +[deps] + +source_file="res://scenes/blender/grass2.png" +dest_files=["res://.godot/imported/grass2.png-13075032ae2094613507ba9816836ec0.s3tc.ctex"] + +[params] + +compress/mode=2 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=true +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=0 diff --git a/scenes/blender/grass3.png b/scenes/blender/grass3.png new file mode 100644 index 0000000000000000000000000000000000000000..a5b2f4778410697a87c59460ec0b04e7764b48b2 --- /dev/null +++ b/scenes/blender/grass3.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:28a187690b9dabe4fee455d53887946da8f0698c853c443b139c2140911cc2df +size 51645 diff --git a/scenes/blender/grass3.png.import b/scenes/blender/grass3.png.import new file mode 100644 index 0000000000000000000000000000000000000000..73b0f3c14fde607562aa131cb29726d1727249a4 --- /dev/null +++ b/scenes/blender/grass3.png.import @@ -0,0 +1,35 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://b7b8dwp5ep2kc" +path.s3tc="res://.godot/imported/grass3.png-dc3db52e28cf6ec55fdaa7c642709840.s3tc.ctex" +metadata={ +"imported_formats": ["s3tc_bptc"], +"vram_texture": true +} + +[deps] + +source_file="res://scenes/blender/grass3.png" +dest_files=["res://.godot/imported/grass3.png-dc3db52e28cf6ec55fdaa7c642709840.s3tc.ctex"] + +[params] + +compress/mode=2 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=true +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=0 diff --git a/scenes/blender/parking.blend b/scenes/blender/parking.blend new file mode 100644 index 0000000000000000000000000000000000000000..18bcbebd38f4abf805cbfbb804ae218538948816 --- /dev/null +++ b/scenes/blender/parking.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:068f73437707265496e1a909678fe955cd537515d13ac85c8e39d58accc229e2 +size 1285376 diff --git a/scenes/blender/parking.blend.import b/scenes/blender/parking.blend.import new file mode 100644 index 0000000000000000000000000000000000000000..af6d61fe033f8942f285d1ac501831c439a645b0 --- /dev/null +++ b/scenes/blender/parking.blend.import @@ -0,0 +1,48 @@ +[remap] + +importer="scene" +importer_version=1 +type="PackedScene" +uid="uid://b7hbqlnwn5ggc" +path="res://.godot/imported/parking.blend-f18260cdbd42254ad3c6c98e8307e5fa.scn" + +[deps] + +source_file="res://scenes/blender/parking.blend" +dest_files=["res://.godot/imported/parking.blend-f18260cdbd42254ad3c6c98e8307e5fa.scn"] + +[params] + +nodes/root_type="Node3D" +nodes/root_name="Scene Root" +nodes/apply_root_scale=true +nodes/root_scale=1.0 +meshes/ensure_tangents=true +meshes/generate_lods=true +meshes/create_shadow_meshes=true +meshes/light_baking=1 +meshes/lightmap_texel_size=0.2 +skins/use_named_skins=true +animation/import=true +animation/fps=30 +animation/trimming=false +animation/remove_immutable_tracks=true +import_script/path="" +_subresources={} +gltf/embedded_image_handling=1 +blender/nodes/visible=0 +blender/nodes/punctual_lights=true +blender/nodes/cameras=true +blender/nodes/custom_properties=true +blender/nodes/modifiers=1 +blender/meshes/colors=false +blender/meshes/uvs=true +blender/meshes/normals=true +blender/meshes/tangents=true +blender/meshes/skins=2 +blender/meshes/export_bones_deforming_mesh_only=false +blender/materials/unpack_enabled=true +blender/materials/export_materials=1 +blender/animation/limit_playback=true +blender/animation/always_sample=true +blender/animation/group_tracks=true diff --git a/scenes/car/Car.gd b/scenes/car/Car.gd new file mode 100644 index 0000000000000000000000000000000000000000..ec8bedcadc9559d1b8262090338322bbcace3481 --- /dev/null +++ b/scenes/car/Car.gd @@ -0,0 +1,219 @@ +extends VehicleBody3D +class_name Car + +@export var playing_area_x_size: float = 20 +@export var playing_area_z_size: float = 20 + +@export var acceleration: float = 200 +@export var max_steer_angle: float = 20 + +@export var parking_manager: ParkingManager +@export var goal_marker: Node3D + +@onready var max_velocity = acceleration / mass * 40 +@onready var ai_controller: AIController3D = $AIController3D +@onready var raycast_sensor: RayCastSensor3D = $RayCastSensor3D + +var goal_parking_spot: Transform3D + +var requested_acceleration: float +var requested_steering: float +var _initial_transform: Transform3D +var times_restarted: int + +var _smallest_distance_to_goal: float = 0 +var _max_goal_dist: float = 1 + +var episode_ended_unsuccessfully_reward: float = -6 + +var _rear_lights: Array[MeshInstance3D] +@export var braking_material: StandardMaterial3D +@export var reversing_material: StandardMaterial3D + +func get_normalized_velocity(): + return linear_velocity.normalized() * (linear_velocity.length() / max_velocity) + +func _ready(): + ai_controller.init(self) + _initial_transform = transform + + _rear_lights.resize(2) + _rear_lights[0] = $"car_base/Rear-light" as MeshInstance3D + _rear_lights[1] = $"car_base/Rear-light_001" as MeshInstance3D + + _max_goal_dist = ( + Vector2( + playing_area_x_size, + playing_area_z_size + ).length() + ) + +func reset(): + times_restarted += 1 + + transform = _initial_transform + + if randi_range(0, 1) == 0: + transform.origin = -transform.origin + transform.basis = transform.basis.rotated(Vector3.UP, PI) + + linear_velocity = Vector3.ZERO + angular_velocity = Vector3.ZERO + + transform.basis = transform.basis.rotated(Vector3.UP, randf_range(-0.3, 0.3)) + + parking_manager.disable_random_cars() + + goal_parking_spot = parking_manager.get_random_free_parking_spot_transform() + goal_marker.global_position = goal_parking_spot.origin + Vector3.UP * 3 + + _smallest_distance_to_goal = _get_current_distance_to_goal() + pass + +func _physics_process(delta): + _reset_if_needed() + _update_reward() + + if (ai_controller.heuristic != "human"): + engine_force = (requested_acceleration) * acceleration + steering = move_toward(steering, deg_to_rad(requested_steering * max_steer_angle), delta) + else: + engine_force = ( + int(Input.is_action_pressed("move_forward")) - + int(Input.is_action_pressed("move_backward")) + ) * acceleration + steering = move_toward( + steering, + deg_to_rad(( + int(Input.is_action_pressed("steer_left")) - + int(Input.is_action_pressed("steer_right")) + ) * max_steer_angle), + delta + ) + + _update_rear_lights() + _reset_on_out_of_bounds() + _reset_on_turned_over() + _reset_on_went_away_from_goal() + _end_episode_on_goal_reached() + pass + +func _update_rear_lights(): + var velocity := get_normalized_velocity_in_player_reference().z + + set_rear_light_material(null) + + var brake_or_reverse_requested: bool + if (ai_controller.heuristic != "human"): + brake_or_reverse_requested = requested_acceleration < 0 + else: + brake_or_reverse_requested = Input.is_action_pressed("move_backward") + + if velocity >= 0: + if brake_or_reverse_requested: + set_rear_light_material(braking_material) + elif velocity <= -0.015: + set_rear_light_material(reversing_material) + +func set_rear_light_material(material: StandardMaterial3D): + _rear_lights[0].set_surface_override_material(0, material) + _rear_lights[1].set_surface_override_material(0, material) + +func _reset_on_out_of_bounds(): + if (position.y < -2 or abs(position.x) > 10 or abs(position.z) > 10): + _end_episode(episode_ended_unsuccessfully_reward) + +# If the agent was near the goal but has since moved away, +# end the episode with a negative reward +func _reset_on_went_away_from_goal(): + var goal_dist = _get_current_distance_to_goal() + if _smallest_distance_to_goal < 1.5 and goal_dist > _smallest_distance_to_goal + 3.5: + _end_episode(episode_ended_unsuccessfully_reward) + +# If the goal condition is reached, provide a reward based on: +# how quickly the goal was reached, +# the current velocity, +# direction alignment, +# and distance from the goal position +func _end_episode_on_goal_reached(): + var goal_dist = _get_current_distance_to_goal() + if _is_goal_reached(goal_dist): + var parked_succesfully_reward: float = ( + 10 + - _get_direction_difference() * 4 + - (float(ai_controller.n_steps) / ai_controller.reset_after) * 2 + - get_normalized_velocity().length() + - (goal_dist / _max_goal_dist) + ) + _end_episode(parked_succesfully_reward) + +func _reset_on_turned_over(): + if global_transform.basis.y.dot(Vector3.UP) < 0.6: + _end_episode(episode_ended_unsuccessfully_reward) + +func _end_episode(final_reward: float = 0): + ai_controller.reward += final_reward + ai_controller.needs_reset = true + ai_controller.done = true + +func _reset_if_needed(): + if ai_controller.needs_reset: + reset() + ai_controller.reset() + +func _update_reward(): + if times_restarted == 0: + return + + var goal_dist = _get_current_distance_to_goal() + +# # If the car is close to the goal parking spot, + # we modify the reward based on the angle + var direction_multiplier = 1 + if goal_dist < 1: + direction_multiplier = (1 - _get_direction_difference()) * 1.5 + + if goal_dist < _smallest_distance_to_goal: + ai_controller.reward += ( + (_smallest_distance_to_goal - goal_dist) * + direction_multiplier + ) + _smallest_distance_to_goal = goal_dist + + # Encourage shorter paths + if goal_dist > 2: + ai_controller.reward -= 10 * (get_normalized_velocity().length() / ai_controller.reset_after) + +# Returns the difference between current direction and goal direction in range 0,1 +# If 1, the angle is 180 degrees, if 0, the direction is perfectly aligned. +func _get_direction_difference() -> float: + return (global_transform.basis.z.dot(-goal_parking_spot.basis.z) + 1) / 2 + +func _is_goal_reached(current_goal_dist: float) -> bool: + return ( + current_goal_dist < 0.5 and + linear_velocity.length() < 0.05 and + _get_direction_difference() < 0.07 + ) + +func _get_current_distance_to_goal() -> float: + # Exclude Y difference from the calculated distance + var goal_transform: Transform3D = goal_parking_spot + goal_transform.origin.y = global_position.y + return goal_transform.origin.distance_to(global_position) + +func get_normalized_velocity_in_player_reference() -> Vector3: + return ( + global_transform.basis.inverse() * + get_normalized_velocity() + ) + +func _on_green_space_body_entered(body): + _end_episode(episode_ended_unsuccessfully_reward) + +func _on_walls_body_entered(body): + _end_episode(episode_ended_unsuccessfully_reward) + +func _on_body_entered(body: PhysicsBody3D): + if body is StaticCar: + _end_episode(episode_ended_unsuccessfully_reward) diff --git a/scenes/car/Car.tscn b/scenes/car/Car.tscn new file mode 100644 index 0000000000000000000000000000000000000000..ce211302ca685a5e5e84e0488ab71dc8fefaaa5f --- /dev/null +++ b/scenes/car/Car.tscn @@ -0,0 +1,151 @@ +[gd_scene load_steps=9 format=3 uid="uid://cn2van3bgkmch"] + +[ext_resource type="Script" path="res://scenes/car/Car.gd" id="1_22tkk"] +[ext_resource type="Material" uid="uid://chim7hdhvacuf" path="res://scenes/car/rear_light_braking.tres" id="2_on5f3"] +[ext_resource type="Material" uid="uid://d0fd3s7j6iaxc" path="res://scenes/car/rear_light_reversing.tres" id="3_ic80y"] +[ext_resource type="PackedScene" uid="uid://rfo6asayjvm8" path="res://scenes/blender/car_base.blend" id="4_5vyrv"] +[ext_resource type="PackedScene" uid="uid://d3saly1xwj5s" path="res://scenes/car/Wheel.tscn" id="5_htwgt"] +[ext_resource type="Script" path="res://scenes/car/CarAIController.gd" id="6_h3eqj"] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="7_r8420"] + +[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_ey2uy"] +points = PackedVector3Array(-1.07131, 0.109052, -1.54357, 1.08983, 0.83316, 1.90767, -1.10341, 0.822321, 1.8853, 0.989547, -0.97941, 1.03135, 1.08983, 0.83316, -1.90767, -1.01606, -0.97941, -1.03135, -1.01606, -0.97941, 1.03135, 0.989547, -0.97941, -1.03135, -1.10341, 0.822321, -1.8853, 1.04556, -0.463054, -1.25862, 1.05067, -0.349671, 1.32232, -1.07441, 0.683148, 1.83514, -1.07441, 0.683148, -1.83514, -1.07131, 0.109052, 1.54357, 1.04556, -0.463054, 1.25862, 1.05067, -0.349671, -1.32232) + +[node name="Car" type="VehicleBody3D"] +collision_layer = 2 +mass = 1000.0 +continuous_cd = true +max_contacts_reported = 1 +script = ExtResource("1_22tkk") +braking_material = ExtResource("2_on5f3") +reversing_material = ExtResource("3_ic80y") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="."] +transform = Transform3D(0.5, 0, 0, 0, -0.5, 7.54979e-08, 0, -7.54979e-08, -0.5, 0, 0, 0) +shape = SubResource("ConvexPolygonShape3D_ey2uy") + +[node name="car_base" parent="." instance=ExtResource("4_5vyrv")] + +[node name="BackWheel" type="VehicleWheel3D" parent="."] +transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, -0.7, -0.426319, -0.45) +use_as_traction = true +wheel_radius = 0.349 +suspension_travel = 0.3 +suspension_stiffness = 40.0 + +[node name="Wheel" parent="BackWheel" instance=ExtResource("5_htwgt")] +transform = Transform3D(-4.37114e-08, 1, -4.37114e-08, 0, -4.37114e-08, -1, -1, -4.37114e-08, 1.91069e-15, 0, 0, 0) + +[node name="BackWheel2" type="VehicleWheel3D" parent="."] +transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, 0.7, -0.426473, -0.45) +use_as_traction = true +wheel_radius = 0.349 +suspension_travel = 0.3 +suspension_stiffness = 40.0 + +[node name="Wheel3" parent="BackWheel2" instance=ExtResource("5_htwgt")] +transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0) + +[node name="FrontWheel" type="VehicleWheel3D" parent="."] +transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, -0.7, -0.426473, 0.45) +use_as_traction = true +use_as_steering = true +wheel_radius = 0.349 +suspension_travel = 0.3 +suspension_stiffness = 40.0 + +[node name="Wheel2" parent="FrontWheel" instance=ExtResource("5_htwgt")] +transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0) + +[node name="FrontWheel2" type="VehicleWheel3D" parent="."] +transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, 0.7, -0.426473, 0.45) +use_as_traction = true +use_as_steering = true +wheel_radius = 0.349 +suspension_travel = 0.3 +suspension_stiffness = 40.0 + +[node name="Wheel4" parent="FrontWheel2" instance=ExtResource("5_htwgt")] +transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0) + +[node name="AIController3D" type="Node3D" parent="."] +script = ExtResource("6_h3eqj") +reset_after = 1750 + +[node name="RayCastSensor3D" type="Node3D" parent="."] +script = ExtResource("7_r8420") +n_rays_width = 17.0 +n_rays_height = 1.0 +cone_width = 360.0 +cone_height = 0.0 +collide_with_areas = true + +[node name="@RayCast3D@23670" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-1.8375, 0, -9.82973) +collide_with_areas = true + +[node name="node_1 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-5.26432, 0, -8.50217) +collide_with_areas = true + +[node name="node_2 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-7.98017, 0, -6.02635) +collide_with_areas = true + +[node name="node_3 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-9.61826, 0, -2.73663) +collide_with_areas = true + +[node name="node_4 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-9.95734, 0, 0.922684) +collide_with_areas = true + +[node name="node_5 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-8.95163, 0, 4.45738) +collide_with_areas = true + +[node name="node_6 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-6.73696, 0, 7.39009) +collide_with_areas = true + +[node name="node_7 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(-3.61242, 0, 9.32472) +collide_with_areas = true + +[node name="node_8 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(0, 0, 10) +collide_with_areas = true + +[node name="node_9 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(3.61242, 0, 9.32472) +collide_with_areas = true + +[node name="node_10 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(6.73696, 0, 7.39009) +collide_with_areas = true + +[node name="node_11 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(8.95163, 0, 4.45738) +collide_with_areas = true + +[node name="node_12 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(9.95734, 0, 0.922684) +collide_with_areas = true + +[node name="node_13 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(9.61826, 0, -2.73663) +collide_with_areas = true + +[node name="node_14 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(7.98017, 0, -6.02635) +collide_with_areas = true + +[node name="node_15 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(5.26432, 0, -8.50217) +collide_with_areas = true + +[node name="node_16 0" type="RayCast3D" parent="RayCastSensor3D"] +target_position = Vector3(1.8375, 0, -9.82973) +collide_with_areas = true + +[connection signal="body_entered" from="." to="." method="_on_body_entered"] diff --git a/scenes/car/CarAIController.gd b/scenes/car/CarAIController.gd new file mode 100644 index 0000000000000000000000000000000000000000..22aa8b9aa006287a620acd0966332fdf002bb2de --- /dev/null +++ b/scenes/car/CarAIController.gd @@ -0,0 +1,66 @@ +extends AIController3D +class_name CarAIController + +func get_obs() -> Dictionary: + + # Positions and velocities are converted to the player's frame of reference + var player_velocity = _player.get_normalized_velocity_in_player_reference() + + var observations : Array = [ + n_steps / float(reset_after), + player_velocity.x, + player_velocity.z, + _player.angular_velocity.y * 1.5, + _player.steering / deg_to_rad(_player.max_steer_angle) + ] + + # After the first reset, the goal parking position will be assigned, + # so we provide zero values for those positions before then + # (used for detecting the size of the observation space) + if _player.times_restarted == 0: + observations.append_array([0.0, 0.0, 0.0, 0.0]) + else: + var goal_transform: Transform3D = _player.goal_parking_spot + var goal_position = ( + _player.to_local(goal_transform.origin) / + Vector2( + _player.playing_area_x_size, + _player.playing_area_z_size + ).length() + ) + observations.append_array( + [ + goal_position.x, + goal_position.z, + (goal_transform.basis.z - _player.global_transform.basis.z).x, + (goal_transform.basis.z - _player.global_transform.basis.z).z, + ] + ) + + observations.append_array(_player.raycast_sensor.get_observation()) + return {"obs": observations} + +func get_reward() -> float: + return reward + +func get_action_space() -> Dictionary: + return { + "acceleration" : { + "size": 1, + "action_type": "continuous" + }, + "steering" : { + "size": 1, + "action_type": "continuous" + }, + } + +func _physics_process(delta): + n_steps += 1 + if n_steps > reset_after: + needs_reset = true + done = true + +func set_action(action) -> void: + _player.requested_acceleration = clampf(action.acceleration[0], -1.0, 1.0) + _player.requested_steering = clampf(action.steering[0], -1.0, 1.0) diff --git a/scenes/car/StaticCar.gd b/scenes/car/StaticCar.gd new file mode 100644 index 0000000000000000000000000000000000000000..6b3777a78f06b2800f17c6fb57a9095ef3847a7b --- /dev/null +++ b/scenes/car/StaticCar.gd @@ -0,0 +1,19 @@ +extends StaticBody3D +class_name StaticCar + +var _material: StandardMaterial3D +var _car_body: MeshInstance3D + +func _ready(): + _car_body = $"car_base/Body" as MeshInstance3D + _material = _car_body.get_active_material(0) + +func randomize_color(): + var instance_material = _material.duplicate() + instance_material.albedo_color = Color( + randf_range(0.2, 0.8), + randf_range(0.2, 0.8), + randf_range(0.2, 0.8), + 1 + ) + _car_body.set_surface_override_material(0, instance_material) diff --git a/scenes/car/StaticCar.tscn b/scenes/car/StaticCar.tscn new file mode 100644 index 0000000000000000000000000000000000000000..b71c690fd3f6093e8175b3f315289a2406e66625 --- /dev/null +++ b/scenes/car/StaticCar.tscn @@ -0,0 +1,28 @@ +[gd_scene load_steps=5 format=3 uid="uid://cvaj7gdsqflcd"] + +[ext_resource type="Script" path="res://scenes/car/StaticCar.gd" id="1_pf02e"] +[ext_resource type="PackedScene" uid="uid://d3saly1xwj5s" path="res://scenes/car/Wheel.tscn" id="2_tfmok"] +[ext_resource type="PackedScene" uid="uid://rfo6asayjvm8" path="res://scenes/blender/car_base.blend" id="3_wccuk"] + +[sub_resource type="BoxShape3D" id="BoxShape3D_7x1u3"] +size = Vector3(1.5, 1.5, 1.85183) + +[node name="StaticCart" type="StaticBody3D"] +script = ExtResource("1_pf02e") + +[node name="Wheel" parent="." instance=ExtResource("2_tfmok")] +transform = Transform3D(-2.18557e-07, 1, -4.37114e-08, 0, -4.37114e-08, -1, -1, -2.18557e-07, 9.55345e-15, -0.7, -0.426319, -0.45) + +[node name="Wheel3" parent="." instance=ExtResource("2_tfmok")] +transform = Transform3D(1.31135e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31135e-07, -5.73207e-15, 0.7, -0.426473, -0.45) + +[node name="Wheel2" parent="." instance=ExtResource("2_tfmok")] +transform = Transform3D(1.31135e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31135e-07, -5.73207e-15, -0.7, -0.426473, 0.45) + +[node name="Wheel4" parent="." instance=ExtResource("2_tfmok")] +transform = Transform3D(1.31135e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31135e-07, -5.73207e-15, 0.7, -0.426473, 0.45) + +[node name="CollisionShape3D" type="CollisionShape3D" parent="."] +shape = SubResource("BoxShape3D_7x1u3") + +[node name="car_base" parent="." instance=ExtResource("3_wccuk")] diff --git a/scenes/car/Wheel.tscn b/scenes/car/Wheel.tscn new file mode 100644 index 0000000000000000000000000000000000000000..eba57a7abf187924970ea3c7eef82239a69893f2 --- /dev/null +++ b/scenes/car/Wheel.tscn @@ -0,0 +1,21 @@ +[gd_scene load_steps=3 format=3 uid="uid://d3saly1xwj5s"] + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_emc8j"] +albedo_color = Color(0.0235294, 0.0235294, 0.0235294, 1) +roughness = 0.46 + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_5qqye"] +albedo_color = Color(0.619608, 0.619608, 0.619608, 1) + +[node name="Wheel" type="CSGTorus3D"] +transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0) +inner_radius = 0.191 +outer_radius = 0.349 +sides = 16 +ring_sides = 5 +material = SubResource("StandardMaterial3D_emc8j") + +[node name="CSGCylinder3D" type="CSGCylinder3D" parent="."] +radius = 0.296 +height = 0.112 +material = SubResource("StandardMaterial3D_5qqye") diff --git a/scenes/car/rear_light_braking.tres b/scenes/car/rear_light_braking.tres new file mode 100644 index 0000000000000000000000000000000000000000..2c4a05b541466b13a7519f8e694b657253e1185a --- /dev/null +++ b/scenes/car/rear_light_braking.tres @@ -0,0 +1,5 @@ +[gd_resource type="StandardMaterial3D" format=3 uid="uid://chim7hdhvacuf"] + +[resource] +resource_local_to_scene = true +albedo_color = Color(1, 0, 0, 1) diff --git a/scenes/car/rear_light_reversing.tres b/scenes/car/rear_light_reversing.tres new file mode 100644 index 0000000000000000000000000000000000000000..6610726a22f8e2bce1ff306443b2277994ceba46 --- /dev/null +++ b/scenes/car/rear_light_reversing.tres @@ -0,0 +1,5 @@ +[gd_resource type="StandardMaterial3D" format=3 uid="uid://d0fd3s7j6iaxc"] + +[resource] +resource_local_to_scene = true +emission = Color(1, 1, 1, 1) diff --git a/scenes/car/static_cart_material.tres b/scenes/car/static_cart_material.tres new file mode 100644 index 0000000000000000000000000000000000000000..122ddcf54e1a18ae0ec7284cb92b308eda20b733 --- /dev/null +++ b/scenes/car/static_cart_material.tres @@ -0,0 +1,6 @@ +[gd_resource type="StandardMaterial3D" format=3 uid="uid://bn1o1m8nhe72c"] + +[resource] +resource_local_to_scene = true +metallic = 0.16 +roughness = 0.29 diff --git a/scenes/game_scene/GameScene.tscn b/scenes/game_scene/GameScene.tscn new file mode 100644 index 0000000000000000000000000000000000000000..485eb51cbb0d365061711ee52d63d8c0a9ff8914 --- /dev/null +++ b/scenes/game_scene/GameScene.tscn @@ -0,0 +1,139 @@ +[gd_scene load_steps=15 format=3 uid="uid://ca6csk8y5nvuu"] + +[ext_resource type="PackedScene" uid="uid://cn2van3bgkmch" path="res://scenes/car/Car.tscn" id="1_5vpyy"] +[ext_resource type="Script" path="res://scenes/game_scene/ParkingSpotManager.gd" id="3_0vbrg"] +[ext_resource type="Script" path="res://scenes/game_scene/ParkingManager.gd" id="3_x8b77"] +[ext_resource type="PackedScene" uid="uid://cvaj7gdsqflcd" path="res://scenes/car/StaticCar.tscn" id="4_tyjtq"] +[ext_resource type="PackedScene" uid="uid://cc7x3j2c0bo3i" path="res://scenes/blender/parking.blend" id="5_x8abj"] + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_u0d82"] +resource_local_to_scene = true +shading_mode = 0 +albedo_color = Color(1, 0, 0, 1) + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_nr3lu"] +resource_local_to_scene = true +shading_mode = 0 + +[sub_resource type="BoxShape3D" id="BoxShape3D_nxaf6"] +size = Vector3(20, 5, 20) + +[sub_resource type="BoxShape3D" id="BoxShape3D_evajx"] +size = Vector3(12.2, 2.5, 2) + +[sub_resource type="BoxShape3D" id="BoxShape3D_75vn3"] +size = Vector3(2, 10, 23.5) + +[sub_resource type="ConcavePolygonShape3D" id="ConcavePolygonShape3D_65cdh"] +data = PackedVector3Array(5.9011, -0.0092, -0.8469, -5.9011, -0.0092, 0.8469, -5.9011, -0.0092, -0.8469, 5.9011, -0.0092, -0.8469, 5.9011, -0.0092, 0.8469, -5.9011, -0.0092, 0.8469, 5.9011, -0.0092, 0.8469, -6.0066, 0.1706, 0.9483, -5.9011, -0.0092, 0.8469, 5.9011, -0.0092, 0.8469, 6.0066, 0.1706, 0.9483, -6.0066, 0.1706, 0.9483, -5.9011, -0.0092, -0.8469, 6.0066, 0.1706, -0.9483, 5.9011, -0.0092, -0.8469, -5.9011, -0.0092, -0.8469, -6.0066, 0.1706, -0.9483, 6.0066, 0.1706, -0.9483, 5.9011, -0.0092, -0.8469, 6.0066, 0.1706, 0.9483, 5.9011, -0.0092, 0.8469, 5.9011, -0.0092, -0.8469, 6.0066, 0.1706, -0.9483, 6.0066, 0.1706, 0.9483, -6.0737, -0.0534, 1.0128, -6.0737, 0.1348, -1.0128, -6.0737, 0.1348, 1.0128, -6.0737, -0.0534, 1.0128, -6.0737, -0.0534, -1.0128, -6.0737, 0.1348, -1.0128, -6.0737, -0.0534, -1.0128, 6.0737, -0.0534, 1.0128, 6.0737, -0.0534, -1.0128, -6.0737, -0.0534, -1.0128, -6.0737, -0.0534, 1.0128, 6.0737, -0.0534, 1.0128, -6.0737, -0.0534, -1.0128, 6.0737, 0.1348, -1.0128, -6.0737, 0.1348, -1.0128, -6.0737, -0.0534, -1.0128, 6.0737, -0.0534, -1.0128, 6.0737, 0.1348, -1.0128, 6.0737, -0.0534, -1.0128, 6.0737, 0.1348, 1.0128, 6.0737, 0.1348, -1.0128, 6.0737, -0.0534, -1.0128, 6.0737, -0.0534, 1.0128, 6.0737, 0.1348, 1.0128, -5.9011, -0.0092, 0.8469, -6.0066, 0.1706, -0.9483, -5.9011, -0.0092, -0.8469, -5.9011, -0.0092, 0.8469, -6.0066, 0.1706, 0.9483, -6.0066, 0.1706, -0.9483, -6.0066, 0.1706, 0.9483, -6.0737, 0.1348, -1.0128, -6.0066, 0.1706, -0.9483, -6.0066, 0.1706, 0.9483, -6.0737, 0.1348, 1.0128, -6.0737, 0.1348, -1.0128, -6.0066, 0.1706, -0.9483, 6.0737, 0.1348, -1.0128, 6.0066, 0.1706, -0.9483, -6.0066, 0.1706, -0.9483, -6.0737, 0.1348, -1.0128, 6.0737, 0.1348, -1.0128, 6.0066, 0.1706, -0.9483, 6.0737, 0.1348, 1.0128, 6.0066, 0.1706, 0.9483, 6.0066, 0.1706, -0.9483, 6.0737, 0.1348, -1.0128, 6.0737, 0.1348, 1.0128, 6.0066, 0.1706, 0.9483, -6.0737, 0.1348, 1.0128, -6.0066, 0.1706, 0.9483, 6.0066, 0.1706, 0.9483, 6.0737, 0.1348, 1.0128, -6.0737, 0.1348, 1.0128, 6.0737, -0.0534, 1.0128, -6.0737, 0.1348, 1.0128, 6.0737, 0.1348, 1.0128, 6.0737, -0.0534, 1.0128, -6.0737, -0.0534, 1.0128, -6.0737, 0.1348, 1.0128) + +[sub_resource type="PrismMesh" id="PrismMesh_f41ct"] + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_cbhkg"] +albedo_color = Color(0, 1, 0.0627451, 1) + +[sub_resource type="BoxMesh" id="BoxMesh_0kec2"] +size = Vector3(0.5, 1, 0.5) + +[node name="GameScene" type="Node3D"] + +[node name="Car" parent="." node_paths=PackedStringArray("parking_manager", "goal_marker") instance=ExtResource("1_5vpyy")] +transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 7.22273, 0.919515, 7.72317) +collision_mask = 513 +contact_monitor = true +parking_manager = NodePath("../Parking") +goal_marker = NodePath("../GoalMarker") +braking_material = SubResource("StandardMaterial3D_u0d82") +reversing_material = SubResource("StandardMaterial3D_nr3lu") + +[node name="Static" type="Node3D" parent="."] + +[node name="Ground" type="StaticBody3D" parent="Static"] +collision_layer = 512 + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Static/Ground"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -2.5, 0) +shape = SubResource("BoxShape3D_nxaf6") + +[node name="GreenSpace" type="Area3D" parent="Static"] +collision_mask = 3 + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Static/GreenSpace"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.32474, 0) +shape = SubResource("BoxShape3D_evajx") + +[node name="Walls" type="Area3D" parent="Static"] +collision_mask = 3 + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Static/Walls"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 10.75, 0, 0) +shape = SubResource("BoxShape3D_75vn3") + +[node name="CollisionShape3D4" type="CollisionShape3D" parent="Static/Walls"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -10.75, 0, 0) +shape = SubResource("BoxShape3D_75vn3") + +[node name="CollisionShape3D2" type="CollisionShape3D" parent="Static/Walls"] +transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 0, 0, 10.75) +shape = SubResource("BoxShape3D_75vn3") + +[node name="CollisionShape3D3" type="CollisionShape3D" parent="Static/Walls"] +transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 0, 0, -10.75) +shape = SubResource("BoxShape3D_75vn3") + +[node name="Parking" parent="." instance=ExtResource("5_x8abj")] +script = ExtResource("3_x8b77") +parked_car_transform_randomness = 0.35 + +[node name="StaticBody3D" type="StaticBody3D" parent="Parking/GreenSpace" index="2"] + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Parking/GreenSpace/StaticBody3D"] +shape = SubResource("ConcavePolygonShape3D_65cdh") + +[node name="ParkingSpots" parent="Parking" index="4"] +script = ExtResource("3_0vbrg") + +[node name="Cart" parent="Parking/ParkingSpots/ParkingSpot" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.704576, -0.203074) + +[node name="Cart2" parent="Parking/ParkingSpots/ParkingSpot_001" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203) + +[node name="Cart3" parent="Parking/ParkingSpots/ParkingSpot_002" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203) + +[node name="Cart4" parent="Parking/ParkingSpots/ParkingSpot_003" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203) + +[node name="Cart5" parent="Parking/ParkingSpots/ParkingSpot_004" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203) + +[node name="Cart6" parent="Parking/ParkingSpots/ParkingSpot_005" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203) + +[node name="Cart7" parent="Parking/ParkingSpots/ParkingSpot_006" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203) + +[node name="Cart8" parent="Parking/ParkingSpots/ParkingSpot_007" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203) + +[node name="Cart9" parent="Parking/ParkingSpots/ParkingSpot_008" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203) + +[node name="Cart10" parent="Parking/ParkingSpots/ParkingSpot_009" index="0" instance=ExtResource("4_tyjtq")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203) + +[node name="GoalMarker" type="MeshInstance3D" parent="."] +transform = Transform3D(1, 0, 0, 0, -1, 8.74228e-08, 0, -8.74228e-08, -1, 0, 2.17536, 0) +mesh = SubResource("PrismMesh_f41ct") +surface_material_override/0 = SubResource("StandardMaterial3D_cbhkg") + +[node name="MeshInstance3D" type="MeshInstance3D" parent="GoalMarker"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1, 0) +mesh = SubResource("BoxMesh_0kec2") +surface_material_override/0 = SubResource("StandardMaterial3D_cbhkg") + +[connection signal="body_entered" from="Static/GreenSpace" to="Car" method="_on_green_space_body_entered"] +[connection signal="body_entered" from="Static/Walls" to="Car" method="_on_walls_body_entered"] + +[editable path="Parking"] diff --git a/scenes/game_scene/ParkingManager.gd b/scenes/game_scene/ParkingManager.gd new file mode 100644 index 0000000000000000000000000000000000000000..d9996023dc4c437c7dacfb173940fb6e71b1d52b --- /dev/null +++ b/scenes/game_scene/ParkingManager.gd @@ -0,0 +1,37 @@ +extends Node3D +class_name ParkingManager + +@export var disable_random_amount_of_cars_each_episode := true +@export var disable_parked_cars_count := 1 +@export var parked_car_transform_randomness := 0.2 + +@onready var _parking_spot_manager: ParkingSpotManager = $ParkingSpots + +func _ready(): + _parking_spot_manager.parked_car_transform_randomness = parked_car_transform_randomness + +func disable_random_cars(): + _parking_spot_manager.disable_random_cars( + disable_parked_cars_count if not disable_random_amount_of_cars_each_episode + else randi_range(1, _parking_spot_manager.total_cars) + ) + +func get_parking_spots() -> Array[Node3D]: + return _parking_spot_manager.parking_spots + +func get_closest_free_parking_spot_transform(from_global_position: Vector3): + var closest_distance: float = INF + var closest_transform: Transform3D + + for parking_spot in _parking_spot_manager.parking_spots: + if not parking_spot.visible: + var distance: float = from_global_position.distance_to(parking_spot.global_position) + if distance < closest_distance: + closest_distance = distance + closest_transform = parking_spot.global_transform + + assert(closest_distance != INF, "Closest distance is INF") + return closest_transform + +func get_random_free_parking_spot_transform(): + return _parking_spot_manager.get_random_free_parking_spot_transform() diff --git a/scenes/game_scene/ParkingSpotManager.gd b/scenes/game_scene/ParkingSpotManager.gd new file mode 100644 index 0000000000000000000000000000000000000000..e7f50b2db48deab2cf6b993dc63a4508ab5501ee --- /dev/null +++ b/scenes/game_scene/ParkingSpotManager.gd @@ -0,0 +1,48 @@ +extends Node3D +class_name ParkingSpotManager + +var total_cars: int +var parking_spots: Array[Node3D] +var free_parking_spots: Array[Node3D] +var parked_car_transform_randomness + +func _ready(): + total_cars = get_child_count() + parking_spots.append_array(get_children()) + +func disable_random_cars(number_of_cars_to_disable: int): + assert(number_of_cars_to_disable <= total_cars, + "Can't disable more than the total number of parking_spots.") + var disabled_cars: int = 0 + free_parking_spots.clear() + + parking_spots.shuffle() + + for parking_spot in parking_spots: + if disabled_cars < number_of_cars_to_disable: + parking_spot.process_mode = Node.PROCESS_MODE_DISABLED + parking_spot.hide() + free_parking_spots.append(parking_spot) + else: + parking_spot.process_mode = Node.PROCESS_MODE_INHERIT + parking_spot.show() + + var car: Node3D = parking_spot.get_child(0) + randomize_car_transform(car, parking_spot) + randomize_car_color(car) + disabled_cars += 1 + +func randomize_car_color(car: Node3D): + car.randomize_color() + +func randomize_car_transform(car: Node3D, parking_space: Node3D): + var randomness = parked_car_transform_randomness + var rotation_randomness = randomness * 0.35 + var parking_space_position = parking_space.global_position + + car.global_position.x = parking_space_position.x + randf_range(-randomness, randomness) + car.global_position.z = parking_space_position.z + randf_range(-randomness, randomness) + car.global_rotation.y = parking_space.global_rotation.y + randf_range(-rotation_randomness, rotation_randomness) + +func get_random_free_parking_spot_transform(): + return free_parking_spots.pick_random().global_transform diff --git a/scenes/sync_override.gd b/scenes/sync_override.gd new file mode 100644 index 0000000000000000000000000000000000000000..3702a6ce89f386728dcb99e90a1e1f112711accb --- /dev/null +++ b/scenes/sync_override.gd @@ -0,0 +1,6 @@ +extends "res://addons/godot_rl_agents/sync.gd" + +# Lowers the physics ticks per second +func _initialize(): + super._initialize() + Engine.physics_ticks_per_second = _get_speedup() * 30