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
+++ b/bin/3DCarParking.x86_64
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:843a1e5f8df1e6b2fe57ff86ca637436c7e1216f8409f2b079090c373548e86f
+size 72784744
diff --git a/bin/data_3DCarParkingExample_x86_64/3DCarParkingExample.deps.json b/bin/data_3DCarParkingExample_x86_64/3DCarParkingExample.deps.json
new file mode 100644
index 0000000000000000000000000000000000000000..70608c8661644502ae27639e776d16e71dcf8b21
--- /dev/null
+++ b/bin/data_3DCarParkingExample_x86_64/3DCarParkingExample.deps.json
@@ -0,0 +1,1074 @@
+{
+ "runtimeTarget": {
+ "name": ".NETCoreApp,Version=v6.0/win-x64",
+ "signature": ""
+ },
+ "compilationOptions": {},
+ "targets": {
+ ".NETCoreApp,Version=v6.0": {},
+ ".NETCoreApp,Version=v6.0/win-x64": {
+ "3DCarParkingExample/1.0.0": {
+ "dependencies": {
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+ "GodotSharp": "4.1.1",
+ "Microsoft.ML.OnnxRuntime": "1.15.1",
+ "runtimepack.Microsoft.NETCore.App.Runtime.win-x64": "6.0.25"
+ },
+ "runtime": {
+ "3DCarParkingExample.dll": {}
+ }
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diff --git a/export_presets.cfg b/export_presets.cfg
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index 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 $(pgrep -x -f \"{temp_dir}/{exe_name} {cmd_args}\")
+rm -rf \"{temp_dir}\""
+dotnet/include_scripts_content=false
+dotnet/include_debug_symbols=true
+
+[preset.1]
+
+name="Windows Desktop"
+platform="Windows Desktop"
+runnable=true
+dedicated_server=false
+custom_features=""
+export_filter="all_resources"
+include_filter=""
+exclude_filter=""
+export_path="bin/3DCarParking.exe"
+encryption_include_filters=""
+encryption_exclude_filters=""
+encrypt_pck=false
+encrypt_directory=false
+
+[preset.1.options]
+
+custom_template/debug=""
+custom_template/release=""
+debug/export_console_wrapper=1
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+texture_format/s3tc=true
+texture_format/etc=false
+texture_format/etc2=false
+binary_format/architecture="x86_64"
+codesign/enable=false
+codesign/timestamp=true
+codesign/timestamp_server_url=""
+codesign/digest_algorithm=1
+codesign/description=""
+codesign/custom_options=PackedStringArray()
+application/modify_resources=true
+application/icon=""
+application/console_wrapper_icon=""
+application/icon_interpolation=4
+application/file_version=""
+application/product_version=""
+application/company_name=""
+application/product_name=""
+application/file_description=""
+application/copyright=""
+application/trademarks=""
+ssh_remote_deploy/enabled=false
+ssh_remote_deploy/host="user@host_ip"
+ssh_remote_deploy/port="22"
+ssh_remote_deploy/extra_args_ssh=""
+ssh_remote_deploy/extra_args_scp=""
+ssh_remote_deploy/run_script="Expand-Archive -LiteralPath '{temp_dir}\\{archive_name}' -DestinationPath '{temp_dir}'
+$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
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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")]
+
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 0)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 0)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 37)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 37)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 37)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 71)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 101)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 99)
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+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 72)
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+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_xy0xn")
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+[node name="Sync" type="Node" parent="."]
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+[node name="Camera3D" type="Camera3D" parent="."]
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+fov = 80.0
+size = 20.0
diff --git a/scenes/blender/car_base.blend b/scenes/blender/car_base.blend
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index 0000000000000000000000000000000000000000..e933a53b3587b27a6400274dd09b63778460bea0
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new file mode 100644
index 0000000000000000000000000000000000000000..02090f618bac169b6ed436d40ee994a4a18c1307
--- /dev/null
+++ b/scenes/blender/car_base.blend.import
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new file mode 100644
index 0000000000000000000000000000000000000000..da288361730ccadbac95a344e3b44c6ee4589c42
--- /dev/null
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..9df4fdcd4b2299e6068bd90f03f0eab5af3ce97c
--- /dev/null
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diff --git a/scenes/blender/parking.blend b/scenes/blender/parking.blend
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index 0000000000000000000000000000000000000000..18bcbebd38f4abf805cbfbb804ae218538948816
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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