Upload folder using huggingface_hub

.gitattributes

@@ -1,58 +1,11 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
-*.jpg filter=lfs diff=lfs merge=lfs -text
-*.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
+# Normalize EOL for all files that Git considers text files.
+* text=auto eol=lf
+Ships.onnx filter=lfs diff=lfs merge=lfs -text
+addons/godot_rl_agents/icon.png filter=lfs diff=lfs merge=lfs -text
+assets/bar_green.png filter=lfs diff=lfs merge=lfs -text
+assets/bar_red.png filter=lfs diff=lfs merge=lfs -text
+assets/bar_yellow.png filter=lfs diff=lfs merge=lfs -text
+assets/boat_large.bin filter=lfs diff=lfs merge=lfs -text
+assets/chest.bin filter=lfs diff=lfs merge=lfs -text
+assets/ship_light.bin filter=lfs diff=lfs merge=lfs -text
+assets/sunflowers_puresky_2k.hdr filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,2 @@
+# Godot 4+ specific ignores
+.godot/

AIController3D.gd

@@ -0,0 +1,61 @@
+extends AIController3D
+
+
+@onready var grid_sensor_3d = $GridSensor3D
+
+var fb_action : float = 0.0
+var turn_action : float = 0.0
+var _player_positions : = Deque.new()
+
+
+func _ready():
+	super._ready()
+	_player_positions.max_size = 80 # 10 steps with repeat of 8
+
+func get_obs() -> Dictionary:
+	var obs = grid_sensor_3d.get_observation()
+	return {"obs": obs}
+
+func get_reward() -> float:
+	return reward + keep_moving_reward()
+	
+func keep_moving_reward() -> float:
+	var mean_position = Vector3.ZERO
+	for pos in _player_positions:
+		mean_position += pos
+	mean_position /= _player_positions.size()
+	
+	var penalty = 0.0
+	
+	for pos in _player_positions:
+		penalty += (pos-mean_position).length()
+	
+	#prints("penalty", 0.01*(penalty / _player_positions.size()))
+	
+	return 0.005*(penalty / _player_positions.size())
+
+func _physics_process(delta):
+	_player_positions.push_back(_player.position)
+
+func reset():
+	super.reset()
+	_player_positions.clear()
+	_player_positions.push_back(_player.position)
+	
+
+
+func get_action_space() -> Dictionary:
+	return {
+		"fb" : {
+			"size": 1,
+			"action_type": "continuous"
+		},
+		"turn" : {
+			"size": 1,
+			"action_type": "continuous"
+		},
+	}
+	
+func set_action(action) -> void:	
+	fb_action = clamp(action["fb"][0], -1.0, 1.0)
+	turn_action = clamp(action["turn"][0], -1.0, 1.0)

GridSensor3DExample.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Godot.NET.Sdk/4.0.3">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <EnableDynamicLoading>true</EnableDynamicLoading>
+    <RootNamespace>GodotRLAgents</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
+  </ItemGroup>
+</Project>

GridSensor3DExample.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33530.505
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Godot RL Agents", "Godot RL Agents.csproj", "{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}"
+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
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

PathFollower.gd

@@ -0,0 +1,8 @@
+extends PathFollow3D
+
+
+
+@export var speed:=0.3
+
+func _physics_process(delta):
+	progress_ratio += delta * speed

Player.gd

@@ -0,0 +1,84 @@
+extends CharacterBody3D
+class_name Player
+
+signal reset_signal
+
+const SPEED := 30.0
+const JUMP_VELOCITY := 4.5
+const TURN_SENS := 2.0
+
+@onready var ai_controller_3d = $AIController3D
+@onready var health_bar = $HealthBar
+
+var score := 0
+var health := 3:
+	set(value):
+		health = value
+		health_bar.update_health(health)
+		if health == 0:
+			game_over()
+
+
+func _ready():
+	ai_controller_3d.init(self)
+
+func game_over():
+	ai_controller_3d.done = true
+	ai_controller_3d.needs_reset = true
+
+func _physics_process(delta):
+	if ai_controller_3d.needs_reset:
+		reset()
+		ai_controller_3d.reset()
+		return
+		
+	var fb : float
+	var turn : float
+	
+	if ai_controller_3d.heuristic == "human":
+		fb = Input.get_action_strength("move_backward") - Input.get_action_strength("move_forward")
+		turn = Input.get_action_strength("turn_left") - Input.get_action_strength("turn_right")
+	else:
+		fb = ai_controller_3d.fb_action
+		turn = ai_controller_3d.turn_action
+	
+	fb = clamp(fb, -1.0, 0.5) # limit reverse speed
+	#prints(ai_controller_3d.reward, ai_controller_3d.done, fb)
+	rotation.y += deg_to_rad(turn*TURN_SENS)
+	var direction = (transform.basis * Vector3(0.0, 0, fb)) # .normalized()
+	if direction:
+		velocity.x = direction.x * SPEED
+		velocity.z = direction.z * SPEED
+	else:
+		velocity.x = move_toward(velocity.x, 0, SPEED)
+		velocity.z = move_toward(velocity.z, 0, SPEED)
+
+	var collided = move_and_slide()
+	if collided:
+		obstacle_hit() 
+
+func reset():
+	position = Vector3.ZERO
+	health = 3
+	score = 0
+	reset_signal.emit()
+	
+func chest_collected():
+	#print("chest collected")
+	score += 1
+	ai_controller_3d.reward += 1.0
+
+func mine_hit():
+	#print("mine hit")
+	score -= 1	
+	health -= 1
+	ai_controller_3d.reward -= 1.0
+	
+func obstacle_hit():
+	#print("obstacle hit")
+	pass
+	#ai_controller_3d.reward -= 0.01
+
+func _on_game_area_body_exited(body):
+	#print("left game area")
+	game_over()

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 Ships 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 jtatman/godot_rl_Ships
+```
+
+
+

Ships.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99bdc5e53587e307d0e54c001a04becf09320283825fb6b140bec84a7107f2e5
+size 191953

UIBasicsEnvironment.tres

@@ -0,0 +1,64 @@
+[gd_resource type="Environment" load_steps=8 format=3 uid="uid://bsg17rom7hmrb"]
+
+[sub_resource type="Shader" id="Shader_18b1f"]
+code = "// NOTE: Shader automatically converted from Godot Engine 4.0.alpha3's PanoramaSkyMaterial.
+shader_type sky;
+
+uniform sampler2D sky_texture : filter_linear;
+uniform sampler2D flow_texture : hint_normal;
+uniform sampler2D noise_texture;
+
+void sky() {
+    float noise = texture(noise_texture, SKY_COORDS).r;
+    float time = TIME * .1 + noise;
+    
+    vec2 flow_vectors = (texture(flow_texture, SKY_COORDS).rg - .5) * 2.0;
+    float timer1 = fract(time);
+    float timer2 = fract(time + 0.5);
+    float mix_timer = min(fract(time), 1.0 - fract(time)) * 2.0;
+    
+    vec4 color1 = texture(sky_texture, SKY_COORDS + flow_vectors * timer1 * .03);
+    vec4 color2 = texture(sky_texture, SKY_COORDS + flow_vectors * timer2 * .03);
+    
+    vec4 final_color = mix(color2, color1, mix_timer);
+    
+    COLOR = final_color.rgb;
+}"
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_edjfr"]
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_naxpu"]
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_a2b1s"]
+noise = SubResource("FastNoiseLite_naxpu")
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_nda5t"]
+
+[sub_resource type="ShaderMaterial" id="ShaderMaterial_gaoht"]
+shader = SubResource("Shader_18b1f")
+shader_parameter/sky_texture = SubResource("CompressedTexture2D_nda5t")
+shader_parameter/flow_texture = SubResource("CompressedTexture2D_edjfr")
+shader_parameter/noise_texture = SubResource("NoiseTexture2D_a2b1s")
+
+[sub_resource type="Sky" id="Sky_xke1b"]
+sky_material = SubResource("ShaderMaterial_gaoht")
+
+[resource]
+background_mode = 2
+sky = SubResource("Sky_xke1b")
+ambient_light_source = 3
+reflected_light_source = 2
+tonemap_mode = 2
+tonemap_white = 1.2
+ssao_enabled = true
+ssao_light_affect = 0.3
+ssil_enabled = true
+glow_enabled = true
+glow_normalized = true
+glow_strength = 0.5
+glow_bloom = 0.04
+glow_blend_mode = 0
+volumetric_fog_density = 0.04
+volumetric_fog_albedo = Color(0.662745, 0.866667, 1, 1)
+volumetric_fog_emission = Color(0, 0.537255, 0.890196, 1)
+volumetric_fog_sky_affect = 0.8

WaterShader.tres

@@ -0,0 +1,561 @@
+[gd_resource type="VisualShader" load_steps=57 format=3 uid="uid://8su6ti3hlgpy"]
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_eslgf"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_u8qml"]
+
+[sub_resource type="VisualShaderNodeComment" id="VisualShaderNodeComment_1n6h4"]
+size = Vector2(1961.08, 947.632)
+title = "Detail Noise"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_7wfef"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_y60id"]
+input_name = "uv"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_pt86f"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_p2bsf"]
+parameter_name = "detail_water_speed"
+default_value_enabled = true
+default_value = 0.002
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_ml4ab"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_ql8q5"]
+noise_type = 2
+frequency = 0.75
+fractal_type = 0
+cellular_distance_function = 1
+cellular_jitter = 1.0
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_kb3i2"]
+seamless = true
+noise = SubResource("FastNoiseLite_ql8q5")
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_ngw8e"]
+texture = SubResource("NoiseTexture2D_kb3i2")
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_a6mhs"]
+parameter_name = "foam_threshold"
+default_value_enabled = true
+default_value = 0.5
+
+[sub_resource type="VisualShaderNodeStep" id="VisualShaderNodeStep_07sk8"]
+default_input_values = [0, 0.666, 1, 0.0]
+
+[sub_resource type="VisualShaderNodeMix" id="VisualShaderNodeMix_5gm3l"]
+default_input_values = [0, Quaternion(0, 0, 0, 0), 1, Quaternion(1, 1, 1, 1), 2, 0.5]
+op_type = 6
+
+[sub_resource type="VisualShaderNodeColorParameter" id="VisualShaderNodeColorParameter_amub1"]
+parameter_name = "water_color"
+default_value_enabled = true
+default_value = Color(0, 0.341783, 0.638043, 1)
+
+[sub_resource type="VisualShaderNodeColorParameter" id="VisualShaderNodeColorParameter_3evsr"]
+parameter_name = "foam_color"
+default_value_enabled = true
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_40p55"]
+constant = 0.6
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_lxkfi"]
+function = 31
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_ke10c"]
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_28lt2"]
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_0vuo8"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeUVFunc" id="VisualShaderNodeUVFunc_shc2h"]
+default_input_values = [1, Vector2(3, 3), 2, Vector2(0, 0)]
+
+[sub_resource type="VisualShaderNodeMix" id="VisualShaderNodeMix_s8e8r"]
+default_input_values = [0, Quaternion(0, 0, 0, 0), 1, Quaternion(1, 1, 1, 1), 2, Quaternion(0.5, 0.5, 0.5, 0.5)]
+op_type = 5
+
+[sub_resource type="VisualShaderNodeUVFunc" id="VisualShaderNodeUVFunc_ak4iq"]
+default_input_values = [1, Vector2(-3, -3), 2, Vector2(0, 0)]
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_3yjg7"]
+default_input_values = [0, 0.0, 1, 0.002]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_j2cca"]
+constant = 1.0
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_5gqkt"]
+constant = 0.6
+
+[sub_resource type="VisualShaderNodeMix" id="VisualShaderNodeMix_d4ulh"]
+default_input_values = [0, 0.94, 1, 1.0, 2, 0.5]
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_hfs2o"]
+default_input_values = [0, Quaternion(0, 0, 0, 0), 1, Quaternion(1, 1, 1, 1)]
+op_type = 2
+operator = 5
+
+[sub_resource type="VisualShaderNodeProximityFade" id="VisualShaderNodeProximityFade_n4hcr"]
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_07qnl"]
+default_input_values = [0, 0.0, 1, 48.0]
+operator = 5
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_thkes"]
+
+[sub_resource type="VisualShaderNodeMultiplyAdd" id="VisualShaderNodeMultiplyAdd_71wjw"]
+default_input_values = [0, 0.0, 1, 0.4, 2, 0.0]
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_e10nc"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_sxt31"]
+default_input_values = [0, 0.0, 1, 4.0]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_xo62c"]
+function = 0
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_drpvc"]
+function = 12
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_papeo"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_l6qxq"]
+input_name = "normal"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_bjwgk"]
+input_name = "vertex"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_u6vmt"]
+operator = 1
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_qt6m8"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeVectorDecompose" id="VisualShaderNodeVectorDecompose_qovlt"]
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_t2kaa"]
+parameter_name = "wave_scale"
+default_value_enabled = true
+default_value = 0.2
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_relvm"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_ub24v"]
+function = 12
+
+[sub_resource type="VisualShaderNodeComment" id="VisualShaderNodeComment_4o8y1"]
+size = Vector2(2029.8, 1308.18)
+title = "Scrolling Noise"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_gu7qa"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_k2mpj"]
+input_name = "uv"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_6vl07"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_a03y7"]
+parameter_name = "water_speed2"
+default_value_enabled = true
+default_value = 0.003
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_w7nrt"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+operator = 2
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_11yi2"]
+fractal_type = 3
+domain_warp_enabled = true
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_8rwkj"]
+seamless = true
+noise = SubResource("FastNoiseLite_11yi2")
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_5gkum"]
+source = 5
+texture = SubResource("NoiseTexture2D_8rwkj")
+
+[sub_resource type="VisualShaderNodeTexture2DParameter" id="VisualShaderNodeTexture2DParameter_mjb0g"]
+parameter_name = "main_noise2"
+
+[resource]
+code = "shader_type spatial;
+render_mode blend_mix, depth_draw_opaque, cull_back, diffuse_toon, specular_schlick_ggx;
+
+uniform float wave_scale = 0.20000000298023;
+uniform float water_speed2 = 0.00300000002608;
+uniform sampler2D main_noise2;
+uniform vec4 water_color : source_color = vec4(0.000000, 0.341783, 0.638043, 1.000000);
+uniform vec4 foam_color : source_color = vec4(1.000000, 1.000000, 1.000000, 1.000000);
+uniform float foam_threshold = 0.5;
+uniform float detail_water_speed = 0.00200000009499;
+uniform sampler2D tex_frg_36;
+uniform sampler2D depth_tex_frg_91 : hint_depth_texture;
+uniform sampler2D tex_frg_63;
+uniform sampler2D tex_frg_64;
+
+
+
+void vertex() {
+// FloatParameter:15
+	float n_out15p0 = wave_scale;
+
+
+// FloatParameter:6
+	float n_out6p0 = water_speed2;
+
+
+// Input:3
+	float n_out3p0 = TIME;
+
+
+// VectorOp:7
+	vec2 n_out7p0 = vec2(n_out6p0) * vec2(n_out3p0);
+
+
+// Input:4
+	vec2 n_out4p0 = UV;
+
+
+// VectorOp:5
+	vec2 n_out5p0 = n_out7p0 + n_out4p0;
+
+
+	vec4 n_out8p0;
+// Texture2D:8
+	n_out8p0 = texture(main_noise2, n_out5p0);
+
+
+// VectorDecompose:14
+	float n_out14p0 = vec3(n_out8p0.xyz).x;
+	float n_out14p1 = vec3(n_out8p0.xyz).y;
+	float n_out14p2 = vec3(n_out8p0.xyz).z;
+
+
+// FloatFunc:17
+	float n_out17p0 = abs(n_out14p0);
+
+
+// FloatOp:16
+	float n_out16p0 = n_out15p0 * n_out17p0;
+
+
+// Input:10
+	vec3 n_out10p0 = NORMAL;
+
+
+// VectorOp:13
+	vec3 n_out13p0 = vec3(n_out16p0) * n_out10p0;
+
+
+// Input:11
+	vec3 n_out11p0 = VERTEX;
+
+
+// VectorOp:12
+	vec3 n_out12p0 = n_out13p0 - n_out11p0;
+
+
+// Output:0
+	VERTEX = n_out12p0;
+
+
+}
+
+void fragment() {
+// ColorParameter:59
+	vec4 n_out59p0 = water_color;
+
+
+// ColorParameter:60
+	vec4 n_out60p0 = foam_color;
+
+
+// FloatParameter:39
+	float n_out39p0 = foam_threshold;
+
+
+// FloatParameter:34
+	float n_out34p0 = detail_water_speed;
+
+
+// Input:31
+	float n_out31p0 = TIME;
+
+
+// VectorOp:33
+	vec2 n_out33p0 = vec2(n_out34p0) * vec2(n_out31p0);
+
+
+// Input:32
+	vec2 n_out32p0 = UV;
+
+
+// VectorOp:35
+	vec2 n_out35p0 = n_out33p0 + n_out32p0;
+
+
+// Texture2D:36
+	vec4 n_out36p0 = texture(tex_frg_36, n_out35p0);
+
+
+	float n_out91p0;
+// ProximityFade:91
+	float n_in91p0 = 1.00000;
+	{
+		float __depth_tex = texture(depth_tex_frg_91, SCREEN_UV).r;
+		vec4 __depth_world_pos = INV_PROJECTION_MATRIX * vec4(SCREEN_UV * 2.0 - 1.0, __depth_tex, 1.0);
+		__depth_world_pos.xyz /= __depth_world_pos.w;
+		n_out91p0 = clamp(1.0 - smoothstep(__depth_world_pos.z + n_in91p0, __depth_world_pos.z, VERTEX.z), 0.0, 1.0);
+	}
+
+
+// FloatFunc:62
+	float n_out62p0 = 1.0 - n_out91p0;
+
+
+// FloatOp:100
+	float n_out100p0 = n_out36p0.x * n_out62p0;
+
+
+// Input:95
+	float n_out95p0 = TIME;
+
+
+// MultiplyAdd:94
+	float n_in94p1 = 0.40000;
+	float n_out94p0 = fma(n_out95p0, n_in94p1, n_out62p0);
+
+
+// FloatOp:96
+	float n_in96p1 = 4.00000;
+	float n_out96p0 = n_out94p0 * n_in96p1;
+
+
+// FloatFunc:97
+	float n_out97p0 = sin(n_out96p0);
+
+
+// FloatFunc:98
+	float n_out98p0 = abs(n_out97p0);
+
+
+// FloatOp:99
+	float n_out99p0 = n_out98p0 * n_out62p0;
+
+
+// FloatOp:92
+	float n_in92p1 = 48.00000;
+	float n_out92p0 = pow(n_out62p0, n_in92p1);
+
+
+// FloatOp:93
+	float n_out93p0 = n_out99p0 + n_out92p0;
+
+
+// FloatOp:101
+	float n_out101p0 = n_out100p0 + n_out93p0;
+
+
+// Step:55
+	float n_out55p0 = step(n_out39p0, n_out101p0);
+
+
+// Mix:56
+	vec4 n_out56p0 = mix(n_out59p0, n_out60p0, n_out55p0);
+
+
+// Mix:75
+	float n_in75p0 = 0.94000;
+	float n_in75p1 = 1.00000;
+	float n_out75p0 = mix(n_in75p0, n_in75p1, n_out55p0);
+
+
+// FloatConstant:61
+	float n_out61p0 = 0.600000;
+
+
+// FloatConstant:74
+	float n_out74p0 = 0.600000;
+
+
+// FloatConstant:72
+	float n_out72p0 = 1.000000;
+
+
+// Input:66
+	float n_out66p0 = TIME;
+
+
+// FloatOp:71
+	float n_in71p1 = 0.00200;
+	float n_out71p0 = n_out66p0 * n_in71p1;
+
+
+// UVFunc:70
+	vec2 n_in70p1 = vec2(-3.00000, -3.00000);
+	vec2 n_out70p0 = vec2(n_out71p0) * n_in70p1 + UV;
+
+
+// Texture2D:63
+	vec4 n_out63p0 = texture(tex_frg_63, n_out70p0);
+
+
+// UVFunc:68
+	vec2 n_in68p1 = vec2(3.00000, 3.00000);
+	vec2 n_out68p0 = vec2(n_out71p0) * n_in68p1 + UV;
+
+
+// Texture2D:64
+	vec4 n_out64p0 = texture(tex_frg_64, n_out68p0);
+
+
+// Mix:69
+	vec4 n_in69p2 = vec4(0.50000, 0.50000, 0.50000, 0.50000);
+	vec4 n_out69p0 = mix(n_out63p0, n_out64p0, n_in69p2);
+
+
+// VectorOp:90
+	vec4 n_in90p1 = vec4(1.00000, 1.00000, 1.00000, 1.00000);
+	vec4 n_out90p0 = pow(n_out69p0, n_in90p1);
+
+
+// Output:0
+	ALBEDO = vec3(n_out56p0.xyz);
+	ALPHA = n_out75p0;
+	METALLIC = n_out61p0;
+	ROUGHNESS = n_out74p0;
+	SPECULAR = n_out72p0;
+	NORMAL_MAP = vec3(n_out90p0.xyz);
+
+
+}
+"
+graph_offset = Vector2(1284.03, -340.084)
+modes/diffuse = 3
+nodes/vertex/0/position = Vector2(6740, -20)
+nodes/vertex/2/node = SubResource("VisualShaderNodeComment_4o8y1")
+nodes/vertex/2/position = Vector2(1924.58, -428.571)
+nodes/vertex/3/node = SubResource("VisualShaderNodeInput_gu7qa")
+nodes/vertex/3/position = Vector2(2004.58, 131.429)
+nodes/vertex/4/node = SubResource("VisualShaderNodeInput_k2mpj")
+nodes/vertex/4/position = Vector2(1964.58, 291.429)
+nodes/vertex/5/node = SubResource("VisualShaderNodeVectorOp_6vl07")
+nodes/vertex/5/position = Vector2(3124.58, -148.571)
+nodes/vertex/6/node = SubResource("VisualShaderNodeFloatParameter_a03y7")
+nodes/vertex/6/position = Vector2(2004.58, -308.571)
+nodes/vertex/7/node = SubResource("VisualShaderNodeVectorOp_w7nrt")
+nodes/vertex/7/position = Vector2(2764.58, -308.571)
+nodes/vertex/8/node = SubResource("VisualShaderNodeTexture_5gkum")
+nodes/vertex/8/position = Vector2(3504.58, -148.571)
+nodes/vertex/9/node = SubResource("VisualShaderNodeTexture2DParameter_mjb0g")
+nodes/vertex/9/position = Vector2(2824.58, 351.429)
+nodes/vertex/10/node = SubResource("VisualShaderNodeInput_l6qxq")
+nodes/vertex/10/position = Vector2(4060, 200)
+nodes/vertex/11/node = SubResource("VisualShaderNodeInput_bjwgk")
+nodes/vertex/11/position = Vector2(4040, 540)
+nodes/vertex/12/node = SubResource("VisualShaderNodeVectorOp_u6vmt")
+nodes/vertex/12/position = Vector2(6080, -40)
+nodes/vertex/13/node = SubResource("VisualShaderNodeVectorOp_qt6m8")
+nodes/vertex/13/position = Vector2(5760, -400)
+nodes/vertex/14/node = SubResource("VisualShaderNodeVectorDecompose_qovlt")
+nodes/vertex/14/position = Vector2(4180, -400)
+nodes/vertex/15/node = SubResource("VisualShaderNodeFloatParameter_t2kaa")
+nodes/vertex/15/position = Vector2(3980, -900)
+nodes/vertex/16/node = SubResource("VisualShaderNodeFloatOp_relvm")
+nodes/vertex/16/position = Vector2(5340, -620)
+nodes/vertex/17/node = SubResource("VisualShaderNodeFloatFunc_ub24v")
+nodes/vertex/17/position = Vector2(4680, -400)
+nodes/vertex/connections = PackedInt32Array(5, 0, 8, 0, 4, 0, 5, 1, 6, 0, 7, 0, 3, 0, 7, 1, 7, 0, 5, 0, 9, 0, 8, 2, 10, 0, 13, 1, 13, 0, 12, 0, 11, 0, 12, 1, 12, 0, 0, 0, 8, 0, 14, 0, 15, 0, 16, 0, 16, 0, 13, 0, 14, 0, 17, 0, 17, 0, 16, 1)
+nodes/fragment/0/position = Vector2(9060, -1560)
+nodes/fragment/30/node = SubResource("VisualShaderNodeComment_1n6h4")
+nodes/fragment/30/position = Vector2(780, -2960)
+nodes/fragment/31/node = SubResource("VisualShaderNodeInput_7wfef")
+nodes/fragment/31/position = Vector2(860, -2400)
+nodes/fragment/32/node = SubResource("VisualShaderNodeInput_y60id")
+nodes/fragment/32/position = Vector2(820, -2240)
+nodes/fragment/33/node = SubResource("VisualShaderNodeVectorOp_pt86f")
+nodes/fragment/33/position = Vector2(1620, -2840)
+nodes/fragment/34/node = SubResource("VisualShaderNodeFloatParameter_p2bsf")
+nodes/fragment/34/position = Vector2(940, -2860)
+nodes/fragment/35/node = SubResource("VisualShaderNodeVectorOp_ml4ab")
+nodes/fragment/35/position = Vector2(1980, -2680)
+nodes/fragment/36/node = SubResource("VisualShaderNodeTexture_ngw8e")
+nodes/fragment/36/position = Vector2(2300, -2640)
+nodes/fragment/39/node = SubResource("VisualShaderNodeFloatParameter_a6mhs")
+nodes/fragment/39/position = Vector2(5040, -2920)
+nodes/fragment/55/node = SubResource("VisualShaderNodeStep_07sk8")
+nodes/fragment/55/position = Vector2(5820, -2560)
+nodes/fragment/56/node = SubResource("VisualShaderNodeMix_5gm3l")
+nodes/fragment/56/position = Vector2(6780, -2740)
+nodes/fragment/59/node = SubResource("VisualShaderNodeColorParameter_amub1")
+nodes/fragment/59/position = Vector2(5960, -3440)
+nodes/fragment/60/node = SubResource("VisualShaderNodeColorParameter_3evsr")
+nodes/fragment/60/position = Vector2(6040, -3000)
+nodes/fragment/61/node = SubResource("VisualShaderNodeFloatConstant_40p55")
+nodes/fragment/61/position = Vector2(6940, -1700)
+nodes/fragment/62/node = SubResource("VisualShaderNodeFloatFunc_lxkfi")
+nodes/fragment/62/position = Vector2(2420, -1320)
+nodes/fragment/63/node = SubResource("VisualShaderNodeTexture_ke10c")
+nodes/fragment/63/position = Vector2(7260, -980)
+nodes/fragment/64/node = SubResource("VisualShaderNodeTexture_28lt2")
+nodes/fragment/64/position = Vector2(7320, -320)
+nodes/fragment/66/node = SubResource("VisualShaderNodeInput_0vuo8")
+nodes/fragment/66/position = Vector2(5300, -700)
+nodes/fragment/68/node = SubResource("VisualShaderNodeUVFunc_shc2h")
+nodes/fragment/68/position = Vector2(6600, -120)
+nodes/fragment/69/node = SubResource("VisualShaderNodeMix_s8e8r")
+nodes/fragment/69/position = Vector2(7760, -640)
+nodes/fragment/70/node = SubResource("VisualShaderNodeUVFunc_ak4iq")
+nodes/fragment/70/position = Vector2(6580, -960)
+nodes/fragment/71/node = SubResource("VisualShaderNodeFloatOp_3yjg7")
+nodes/fragment/71/position = Vector2(6040, -500)
+nodes/fragment/72/node = SubResource("VisualShaderNodeFloatConstant_j2cca")
+nodes/fragment/72/position = Vector2(7100, -1340)
+nodes/fragment/74/node = SubResource("VisualShaderNodeFloatConstant_5gqkt")
+nodes/fragment/74/position = Vector2(6980, -1520)
+nodes/fragment/75/node = SubResource("VisualShaderNodeMix_d4ulh")
+nodes/fragment/75/position = Vector2(6940, -2400)
+nodes/fragment/90/node = SubResource("VisualShaderNodeVectorOp_hfs2o")
+nodes/fragment/90/position = Vector2(8320, -1120)
+nodes/fragment/91/node = SubResource("VisualShaderNodeProximityFade_n4hcr")
+nodes/fragment/91/position = Vector2(1820, -1240)
+nodes/fragment/92/node = SubResource("VisualShaderNodeFloatOp_07qnl")
+nodes/fragment/92/position = Vector2(4020, -1340)
+nodes/fragment/93/node = SubResource("VisualShaderNodeFloatOp_thkes")
+nodes/fragment/93/position = Vector2(5120, -1680)
+nodes/fragment/94/node = SubResource("VisualShaderNodeMultiplyAdd_71wjw")
+nodes/fragment/94/position = Vector2(3000, -1720)
+nodes/fragment/95/node = SubResource("VisualShaderNodeInput_e10nc")
+nodes/fragment/95/position = Vector2(2100, -1740)
+nodes/fragment/96/node = SubResource("VisualShaderNodeFloatOp_sxt31")
+nodes/fragment/96/position = Vector2(3320, -1800)
+nodes/fragment/97/node = SubResource("VisualShaderNodeFloatFunc_xo62c")
+nodes/fragment/97/position = Vector2(3620, -1780)
+nodes/fragment/98/node = SubResource("VisualShaderNodeFloatFunc_drpvc")
+nodes/fragment/98/position = Vector2(4160, -1780)
+nodes/fragment/99/node = SubResource("VisualShaderNodeFloatOp_papeo")
+nodes/fragment/99/position = Vector2(4540, -1700)
+nodes/fragment/100/node = SubResource("VisualShaderNodeFloatOp_eslgf")
+nodes/fragment/100/position = Vector2(4900, -2200)
+nodes/fragment/101/node = SubResource("VisualShaderNodeFloatOp_u8qml")
+nodes/fragment/101/position = Vector2(5460, -2100)
+nodes/fragment/connections = PackedInt32Array(35, 0, 36, 0, 32, 0, 35, 1, 34, 0, 33, 0, 31, 0, 33, 1, 33, 0, 35, 0, 60, 0, 56, 1, 59, 0, 56, 0, 68, 0, 64, 0, 63, 0, 69, 0, 64, 0, 69, 1, 70, 0, 63, 0, 66, 0, 71, 0, 71, 0, 70, 2, 71, 0, 68, 2, 55, 0, 75, 2, 69, 0, 90, 0, 90, 0, 0, 9, 74, 0, 0, 3, 72, 0, 0, 4, 61, 0, 0, 2, 56, 0, 0, 0, 75, 0, 0, 1, 91, 0, 62, 0, 62, 0, 92, 0, 92, 0, 93, 1, 95, 0, 94, 0, 62, 0, 94, 2, 94, 0, 96, 0, 96, 0, 97, 0, 97, 0, 98, 0, 98, 0, 99, 0, 62, 0, 99, 1, 99, 0, 93, 0, 36, 0, 100, 0, 62, 0, 100, 1, 100, 0, 101, 0, 93, 0, 101, 1, 101, 0, 55, 1, 55, 0, 56, 2, 39, 0, 55, 0)

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -0,0 +1,113 @@
+extends Node2D
+class_name AIController2D
+
+enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
+@export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
+@export var onnx_model_path := ""
+@export var reset_after := 1000
+
+@export_group("Record expert demos mode options")
+## Path where the demos will be saved. The file can later be used for imitation learning.
+@export var expert_demo_save_path: String
+## The action that erases the last recorded episode from the currently recorded data.
+@export var remove_last_episode_key: InputEvent
+## Action will be repeated for n frames. Will introduce control lag if larger than 1.
+## Can be used to ensure that action_repeat on inference and training matches
+## the recorded demonstrations.
+@export var action_repeat: int = 1
+
+var onnx_model: ONNXModel
+
+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")
+
+
+#-----------------------------------------------------------------------------#
+
+
+#-- Methods that sometimes need implementing using the "extend script" option in Godot --#
+# Only needed if you are recording expert demos with this AIController
+func get_action() -> Array:
+	assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
+	return []
+
+# -----------------------------------------------------------------------------#
+
+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

addons/godot_rl_agents/controller/ai_controller_3d.gd

@@ -0,0 +1,114 @@
+extends Node3D
+class_name AIController3D
+
+enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
+@export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
+@export var onnx_model_path := ""
+@export var reset_after := 1000
+
+@export_group("Record expert demos mode options")
+## Path where the demos will be saved. The file can later be used for imitation learning.
+@export var expert_demo_save_path: String
+## The action that erases the last recorded episode from the currently recorded data.
+@export var remove_last_episode_key: InputEvent
+## Action will be repeated for n frames. Will introduce control lag if larger than 1.
+## Can be used to ensure that action_repeat on inference and training matches
+## the recorded demonstrations.
+@export var action_repeat: int = 1
+
+var onnx_model: ONNXModel
+
+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")
+
+
+#-----------------------------------------------------------------------------#
+
+
+#-- Methods that sometimes need implementing using the "extend script" option in Godot --#
+# Only needed if you are recording expert demos with this AIController
+func get_action() -> Array:
+	assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
+	return []
+
+# -----------------------------------------------------------------------------#
+
+
+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

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")

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
+{
+	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
+	public partial class ONNXInference : GodotObject
+	{
+
+		private InferenceSession session;
+		/// <summary>
+		/// Path to the ONNX model. Use Initialize to change it. 
+		/// </summary>
+		private string modelPath;
+		private int batchSize;
+
+		private SessionOptions SessionOpt;
+
+		//init function
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
+		public void Initialize(string Path, int BatchSize)
+		{
+			modelPath = Path;
+			batchSize = BatchSize;
+            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+            session = LoadModel(modelPath);
+
+		}
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
+		public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> 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<NamedOnnxValue> inputs = new List<NamedOnnxValue>
+			{
+			NamedOnnxValue.CreateFromTensor("obs", new DenseTensor<float>(span, new int[] { batchSize, obs.Count })),
+			NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor<float>(new float[] { state_ins }, new int[] { batchSize }))
+			};
+			IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
+
+			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> 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<float> to Variant, so we have to convert it to an array or something
+			Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
+			DisposableNamedOnnxValue output1 = results.First();
+			DisposableNamedOnnxValue output2 = results.Last();
+			Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
+			Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
+
+			foreach (float f in output1.AsEnumerable<float>())
+			{
+				output1Array.Add(f);
+			}
+
+			foreach (float f in output2.AsEnumerable<float>())
+			{
+				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;
+		}
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
+		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();
+		}
+	}
+}

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -0,0 +1,131 @@
+using Godot;
+using Microsoft.ML.OnnxRuntime;
+
+namespace GodotONNX
+{
+	/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
+
+	public static class SessionConfigurator
+	{
+		public enum ComputeName
+		{
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
+		}
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
+        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);
+        }
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+        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;
+            }
+            */
+        }
+
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
+        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;
+		}
+	}
+}

addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml

@@ -0,0 +1,31 @@
+<docs>
+	<members name="ONNXInference">
+		<ONNXInference>
+			<summary>
+       		The main <c>ONNXInference</c> Class that handles the inference process.
+        	</summary>
+		</ONNXInference>
+   		<Initialize>
+        	<summary>
+			Starts the inference process. 
+			</summary>
+			<param name="Path">Path to the ONNX model, expects a path inside resources.</param>
+			<param name="BatchSize">How many observations will the model recieve.</param>
+		</Initialize>
+		<Run>
+			<summary>
+			Runs the given input through the model and returns the output.
+			</summary>
+			<param name="obs">Dictionary containing all observations.</param>
+			<param name="state_ins">How many different agents are creating these observations.</param>
+			<returns>A Dictionary of arrays, containing instructions based on the observations.</returns>
+		</Run>
+		<Load>
+			<summary>
+			Loads the given model into the inference process, using the best Execution provider available.
+			</summary>
+			<param name="Path">Path to the ONNX model, expects a path inside resources.</param>
+			<returns>InferenceSession ready to run.</returns>
+		</Load>
+	</members>
+</docs>

addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml

@@ -0,0 +1,29 @@
+<docs>
+	<members name="SessionConfigurator">
+		<SessionConfigurator>
+			<summary>
+       		The main <c>SessionConfigurator</c> Class that handles the execution options and providers for the inference process.
+        	</summary>
+		</SessionConfigurator>
+  		<GetSessionOptions>
+    	    <summary>
+    	    Creates a SessionOptions with all available execution providers.
+    	    </summary>
+			<returns>SessionOptions with all available execution providers.</returns>
+    	</GetSessionOptions>
+    	<SystemCheck>
+        	<summary>
+        	Appends any execution provider available in the current system.  
+        	</summary>
+			<remarks>
+				This function is mainly verbose for tracking implementation progress of different compute APIs. 
+			</remarks>
+    	</SystemCheck>
+    	<ComputeCheck>
+        	<summary>
+        		Checks for available GPUs.
+        	</summary>
+			<returns>An integer identifier for each compute platform.</returns>
+    	</ComputeCheck>
+	</members>
+</docs>

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -0,0 +1,27 @@
+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()

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"

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")

addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd

@@ -0,0 +1,235 @@
+@tool
+extends ISensor2D
+class_name GridSensor2D
+
+@export var debug_view := false:
+	get:
+		return debug_view
+	set(value):
+		debug_view = value
+		_update()
+
+@export_flags_2d_physics var detection_mask := 0:
+	get:
+		return detection_mask
+	set(value):
+		detection_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_range(1, 200, 0.1) var cell_width := 20.0:
+	get:
+		return cell_width
+	set(value):
+		cell_width = value
+		_update()
+
+@export_range(1, 200, 0.1) var cell_height := 20.0:
+	get:
+		return cell_height
+	set(value):
+		cell_height = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
+	get:
+		return grid_size_x
+	set(value):
+		grid_size_x = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_y := 3:
+	get:
+		return grid_size_y
+	set(value):
+		grid_size_y = value
+		_update()
+
+var _obs_buffer: PackedFloat64Array
+var _rectangle_shape: RectangleShape2D
+var _collision_mapping: Dictionary
+var _n_layers_per_cell: int
+
+var _highlighted_cell_color: Color
+var _standard_cell_color: Color
+
+
+func get_observation():
+	return _obs_buffer
+
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()
+
+
+func _ready() -> void:
+	_set_colors()
+
+	if Engine.is_editor_hint():
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+
+
+func _set_colors() -> void:
+	_standard_cell_color = Color(100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0)
+	_highlighted_cell_color = Color(255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0)
+
+
+func _get_collision_mapping() -> Dictionary:
+	# defines which layer is mapped to which cell obs index
+	var total_bits = 0
+	var collision_mapping = {}
+	for i in 32:
+		var bit_mask = 2 ** i
+		if (detection_mask & bit_mask) > 0:
+			collision_mapping[i] = total_bits
+			total_bits += 1
+
+	return collision_mapping
+
+
+func _spawn_nodes():
+	for cell in get_children():
+		cell.name = "_%s" % cell.name  # Otherwise naming below will fail
+		cell.queue_free()
+
+	_collision_mapping = _get_collision_mapping()
+	#prints("collision_mapping", _collision_mapping, len(_collision_mapping))
+	# allocate memory for the observations
+	_n_layers_per_cell = len(_collision_mapping)
+	_obs_buffer = PackedFloat64Array()
+	_obs_buffer.resize(grid_size_x * grid_size_y * _n_layers_per_cell)
+	_obs_buffer.fill(0)
+	#prints(len(_obs_buffer), _obs_buffer )
+
+	_rectangle_shape = RectangleShape2D.new()
+	_rectangle_shape.set_size(Vector2(cell_width, cell_height))
+
+	var shift := Vector2(
+		-(grid_size_x / 2) * cell_width,
+		-(grid_size_y / 2) * cell_height,
+	)
+
+	for i in grid_size_x:
+		for j in grid_size_y:
+			var cell_position = Vector2(i * cell_width, j * cell_height) + shift
+			_create_cell(i, j, cell_position)
+
+
+func _create_cell(i: int, j: int, position: Vector2):
+	var cell := Area2D.new()
+	cell.position = position
+	cell.name = "GridCell %s %s" % [i, j]
+	cell.modulate = _standard_cell_color
+
+	if collide_with_areas:
+		cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
+		cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
+
+	if collide_with_bodies:
+		cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
+		cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
+
+	cell.collision_layer = 0
+	cell.collision_mask = detection_mask
+	cell.monitorable = true
+	add_child(cell)
+	cell.set_owner(get_tree().edited_scene_root)
+
+	var col_shape := CollisionShape2D.new()
+	col_shape.shape = _rectangle_shape
+	col_shape.name = "CollisionShape2D"
+	cell.add_child(col_shape)
+	col_shape.set_owner(get_tree().edited_scene_root)
+
+	if debug_view:
+		var quad = MeshInstance2D.new()
+		quad.name = "MeshInstance2D"
+		var quad_mesh = QuadMesh.new()
+
+		quad_mesh.set_size(Vector2(cell_width, cell_height))
+
+		quad.mesh = quad_mesh
+		cell.add_child(quad)
+		quad.set_owner(get_tree().edited_scene_root)
+
+
+func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool):
+	for key in _collision_mapping:
+		var bit_mask = 2 ** key
+		if (collision_layer & bit_mask) > 0:
+			var collison_map_index = _collision_mapping[key]
+
+			var obs_index = (
+				(cell_i * grid_size_x * _n_layers_per_cell)
+				+ (cell_j * _n_layers_per_cell)
+				+ collison_map_index
+			)
+			#prints(obs_index, cell_i, cell_j)
+			if entered:
+				_obs_buffer[obs_index] += 1
+			else:
+				_obs_buffer[obs_index] -= 1
+
+
+func _toggle_cell(cell_i: int, cell_j: int):
+	var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j])
+
+	if cell == null:
+		print("cell not found, returning")
+
+	var n_hits = 0
+	var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
+	for i in _n_layers_per_cell:
+		n_hits += _obs_buffer[start_index + i]
+
+	if n_hits > 0:
+		cell.modulate = _highlighted_cell_color
+	else:
+		cell.modulate = _standard_cell_color
+
+
+func _on_cell_area_entered(area: Area2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+	#print(_obs_buffer)
+
+
+func _on_cell_area_exited(area: Area2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_entered(body: Node2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_exited(body: Node2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)

addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd

@@ -0,0 +1,25 @@
+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

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, 3000, 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 = false
+		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 get_observation() -> Array:
+	return self.calculate_raycasts()
+
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.enabled = true
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+		result.append(distance)
+		ray.enabled = false
+	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

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

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)

addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd

@@ -0,0 +1,258 @@
+@tool
+extends ISensor3D
+class_name GridSensor3D
+
+@export var debug_view := false:
+	get:
+		return debug_view
+	set(value):
+		debug_view = value
+		_update()
+
+@export_flags_3d_physics var detection_mask := 0:
+	get:
+		return detection_mask
+	set(value):
+		detection_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 := false:
+	# NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them
+	get:
+		return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export_range(0.1, 2, 0.1) var cell_width := 1.0:
+	get:
+		return cell_width
+	set(value):
+		cell_width = value
+		_update()
+
+@export_range(0.1, 2, 0.1) var cell_height := 1.0:
+	get:
+		return cell_height
+	set(value):
+		cell_height = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
+	get:
+		return grid_size_x
+	set(value):
+		grid_size_x = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_z := 3:
+	get:
+		return grid_size_z
+	set(value):
+		grid_size_z = value
+		_update()
+
+var _obs_buffer: PackedFloat64Array
+var _box_shape: BoxShape3D
+var _collision_mapping: Dictionary
+var _n_layers_per_cell: int
+
+var _highlighted_box_material: StandardMaterial3D
+var _standard_box_material: StandardMaterial3D
+
+
+func get_observation():
+	return _obs_buffer
+
+
+func reset():
+	_obs_buffer.fill(0)
+
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()
+
+
+func _ready() -> void:
+	_make_materials()
+
+	if Engine.is_editor_hint():
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+
+
+func _make_materials() -> void:
+	if _highlighted_box_material != null and _standard_box_material != null:
+		return
+
+	_standard_box_material = StandardMaterial3D.new()
+	_standard_box_material.set_transparency(1)  # ALPHA
+	_standard_box_material.albedo_color = Color(
+		100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0
+	)
+
+	_highlighted_box_material = StandardMaterial3D.new()
+	_highlighted_box_material.set_transparency(1)  # ALPHA
+	_highlighted_box_material.albedo_color = Color(
+		255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0
+	)
+
+
+func _get_collision_mapping() -> Dictionary:
+	# defines which layer is mapped to which cell obs index
+	var total_bits = 0
+	var collision_mapping = {}
+	for i in 32:
+		var bit_mask = 2 ** i
+		if (detection_mask & bit_mask) > 0:
+			collision_mapping[i] = total_bits
+			total_bits += 1
+
+	return collision_mapping
+
+
+func _spawn_nodes():
+	for cell in get_children():
+		cell.name = "_%s" % cell.name  # Otherwise naming below will fail
+		cell.queue_free()
+
+	_collision_mapping = _get_collision_mapping()
+	#prints("collision_mapping", _collision_mapping, len(_collision_mapping))
+	# allocate memory for the observations
+	_n_layers_per_cell = len(_collision_mapping)
+	_obs_buffer = PackedFloat64Array()
+	_obs_buffer.resize(grid_size_x * grid_size_z * _n_layers_per_cell)
+	_obs_buffer.fill(0)
+	#prints(len(_obs_buffer), _obs_buffer )
+
+	_box_shape = BoxShape3D.new()
+	_box_shape.set_size(Vector3(cell_width, cell_height, cell_width))
+
+	var shift := Vector3(
+		-(grid_size_x / 2) * cell_width,
+		0,
+		-(grid_size_z / 2) * cell_width,
+	)
+
+	for i in grid_size_x:
+		for j in grid_size_z:
+			var cell_position = Vector3(i * cell_width, 0.0, j * cell_width) + shift
+			_create_cell(i, j, cell_position)
+
+
+func _create_cell(i: int, j: int, position: Vector3):
+	var cell := Area3D.new()
+	cell.position = position
+	cell.name = "GridCell %s %s" % [i, j]
+
+	if collide_with_areas:
+		cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
+		cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
+
+	if collide_with_bodies:
+		cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
+		cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
+
+#		cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j))
+#		cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j))
+
+	cell.collision_layer = 0
+	cell.collision_mask = detection_mask
+	cell.monitorable = true
+	cell.input_ray_pickable = false
+	add_child(cell)
+	cell.set_owner(get_tree().edited_scene_root)
+
+	var col_shape := CollisionShape3D.new()
+	col_shape.shape = _box_shape
+	col_shape.name = "CollisionShape3D"
+	cell.add_child(col_shape)
+	col_shape.set_owner(get_tree().edited_scene_root)
+
+	if debug_view:
+		var box = MeshInstance3D.new()
+		box.name = "MeshInstance3D"
+		var box_mesh = BoxMesh.new()
+
+		box_mesh.set_size(Vector3(cell_width, cell_height, cell_width))
+		box_mesh.material = _standard_box_material
+
+		box.mesh = box_mesh
+		cell.add_child(box)
+		box.set_owner(get_tree().edited_scene_root)
+
+
+func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool):
+	for key in _collision_mapping:
+		var bit_mask = 2 ** key
+		if (collision_layer & bit_mask) > 0:
+			var collison_map_index = _collision_mapping[key]
+
+			var obs_index = (
+				(cell_i * grid_size_x * _n_layers_per_cell)
+				+ (cell_j * _n_layers_per_cell)
+				+ collison_map_index
+			)
+			#prints(obs_index, cell_i, cell_j)
+			if entered:
+				_obs_buffer[obs_index] += 1
+			else:
+				_obs_buffer[obs_index] -= 1
+
+
+func _toggle_cell(cell_i: int, cell_j: int):
+	var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j])
+
+	if cell == null:
+		print("cell not found, returning")
+
+	var n_hits = 0
+	var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
+	for i in _n_layers_per_cell:
+		n_hits += _obs_buffer[start_index + i]
+
+	var cell_mesh = cell.get_node_or_null("MeshInstance3D")
+	if n_hits > 0:
+		cell_mesh.mesh.material = _highlighted_box_material
+	else:
+		cell_mesh.mesh.material = _standard_box_material
+
+
+func _on_cell_area_entered(area: Area3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+	#print(_obs_buffer)
+
+
+func _on_cell_area_exited(area: Area3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_entered(body: Node3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_exited(body: Node3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)

addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd

@@ -0,0 +1,25 @@
+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

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd

@@ -0,0 +1,21 @@
+extends Node3D
+class_name RGBCameraSensor3D
+var camera_pixels = null
+
+@onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
+@onready var sub_viewport := $SubViewport as SubViewport
+
+
+func get_camera_pixel_encoding():
+	return camera_texture.get_texture().get_image().get_data().hex_encode()
+
+
+func get_camera_shape() -> Array:
+	assert(
+		sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36,
+		"SubViewport size must be 36x36 or larger."
+	)
+	if sub_viewport.transparent_bg:
+		return [4, sub_viewport.size.y, sub_viewport.size.x]
+	else:
+		return [3, sub_viewport.size.y, sub_viewport.size.x]

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn

@@ -0,0 +1,41 @@
+[gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" 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 = Vector2i(32, 32)
+render_target_update_mode = 3
+
+[node name="Camera3D" type="Camera3D" parent="SubViewport"]
+near = 0.5
+
+[node name="Control" type="Control" parent="."]
+layout_mode = 3
+anchors_preset = 15
+anchor_right = 1.0
+anchor_bottom = 1.0
+grow_horizontal = 2
+grow_vertical = 2
+
+[node name="TextureRect" type="ColorRect" parent="Control"]
+layout_mode = 0
+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)
+
+[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
+texture = SubResource("1")
+offset = Vector2(9, 9)
+flip_v = true

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -0,0 +1,185 @@
+@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: float = 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(float(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

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -0,0 +1,27 @@
+[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_1 0" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, -2.84701, 10.5343)
+
+[node name="node_1 1" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, 2.84701, 10.5343)
+
+[node name="node_2 0" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, -2.84701, 10.5343)
+
+[node name="node_2 1" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, 2.84701, 10.5343)
+
+[node name="node_3 0" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, -2.84701, 9.81639)
+
+[node name="node_3 1" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -0,0 +1,540 @@
+extends Node
+
+# --fixed-fps 2000 --disable-render-loop
+
+enum ControlModes { HUMAN, TRAINING, ONNX_INFERENCE }
+@export var control_mode: ControlModes = ControlModes.TRAINING
+@export_range(1, 10, 1, "or_greater") var action_repeat := 8
+@export_range(0, 10, 0.1, "or_greater") var speed_up := 1.0
+@export var onnx_model_path := ""
+
+# Onnx model stored for each requested path
+var onnx_models: Dictionary
+
+@onready var start_time = Time.get_ticks_msec()
+
+const MAJOR_VERSION := "0"
+const MINOR_VERSION := "7" 
+const DEFAULT_PORT := "11008"
+const DEFAULT_SEED := "1"
+var stream: StreamPeerTCP = null
+var connected = false
+var message_center
+var should_connect = true
+
+var all_agents: Array
+var agents_training: Array
+var agents_inference: Array
+var agents_heuristic: Array
+
+## For recording expert demos
+var agent_demo_record: Node
+## Stores recorded trajectories
+var demo_trajectories: Array
+## A trajectory includes obs: Array, acts: Array, terminal (set in Python env instead)
+var current_demo_trajectory: Array
+
+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 _action_space_inference: Array[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()
+	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
+	)
+
+	_set_heuristic("human", all_agents)
+
+	_initialize_training_agents()
+	_initialize_inference_agents()
+	_initialize_demo_recording()
+
+	_set_seed()
+	_set_action_repeat()
+	initialized = true
+
+
+func _initialize_training_agents():
+	if agents_training.size() > 0:
+		_obs_space = agents_training[0].get_obs_space()
+		_action_space = agents_training[0].get_action_space()
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model", agents_training)
+			_handshake()
+			_send_env_info()
+		else:
+			push_warning(
+				"Couldn't connect to Python server, using human controls instead. ",
+				"Did you start the training server using e.g. `gdrl` from the console?"
+			)
+
+
+func _initialize_inference_agents():
+	if agents_inference.size() > 0:
+		if control_mode == ControlModes.ONNX_INFERENCE:
+			assert(
+				FileAccess.file_exists(onnx_model_path),
+				"Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path
+			)
+			onnx_models[onnx_model_path] = ONNXModel.new(onnx_model_path, 1)
+
+		for agent in agents_inference:
+			_action_space_inference.append(agent.get_action_space())
+
+			var agent_onnx_model: ONNXModel
+			if agent.onnx_model_path.is_empty():
+				assert(
+					onnx_models.has(onnx_model_path),
+					(
+						"Node %s has no onnx model path set " % agent.get_path()
+						+ "and sync node's control mode is not set to OnnxInference. "
+						+ "Either add the path to the AIController, "
+						+ "or if you want to use the path set on sync node instead, "
+						+ "set control mode to OnnxInference."
+					)
+				)
+				prints(
+					"Info: AIController %s" % agent.get_path(),
+					"has no onnx model path set.",
+					"Using path set on the sync node instead."
+				)
+				agent_onnx_model = onnx_models[onnx_model_path]
+			else:
+				if not onnx_models.has(agent.onnx_model_path):
+					assert(
+						FileAccess.file_exists(agent.onnx_model_path),
+						(
+							"Onnx Model Path set on %s node does not exist: %s"
+							% [agent.get_path(), agent.onnx_model_path]
+						)
+					)
+					onnx_models[agent.onnx_model_path] = ONNXModel.new(agent.onnx_model_path, 1)
+				agent_onnx_model = onnx_models[agent.onnx_model_path]
+
+			agent.onnx_model = agent_onnx_model
+		_set_heuristic("model", agents_inference)
+
+
+func _initialize_demo_recording():
+	if agent_demo_record:
+		InputMap.add_action("RemoveLastDemoEpisode")
+		InputMap.action_add_event(
+			"RemoveLastDemoEpisode", agent_demo_record.remove_last_episode_key
+		)
+		current_demo_trajectory.resize(2)
+		current_demo_trajectory[0] = []
+		current_demo_trajectory[1] = []
+		agent_demo_record.heuristic = "demo_record"
+
+
+func _physics_process(_delta):
+	# two modes, human control, agent control
+	# pause tree, send obs, get actions, set actions, unpause tree
+
+	_demo_record_process()
+
+	if n_action_steps % action_repeat != 0:
+		n_action_steps += 1
+		return
+
+	n_action_steps += 1
+
+	_training_process()
+	_inference_process()
+	_heuristic_process()
+
+
+func _training_process():
+	if connected:
+		get_tree().set_pause(true)
+
+		if just_reset:
+			just_reset = false
+			var obs = _get_obs_from_agents(agents_training)
+
+			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(agents_training)
+
+			var reply = {"type": "step", "obs": obs, "reward": reward, "done": done}
+			_send_dict_as_json_message(reply)
+
+		var handled = handle_message()
+
+
+func _inference_process():
+	if agents_inference.size() > 0:
+		var obs: Array = _get_obs_from_agents(agents_inference)
+		var actions = []
+
+		for agent_id in range(0, agents_inference.size()):
+			var action = agents_inference[agent_id].onnx_model.run_inference(
+				obs[agent_id]["obs"], 1.0
+			)
+			action["output"] = clamp_array(action["output"], -1.0, 1.0)
+			var action_dict = _extract_action_dict(
+				action["output"], _action_space_inference[agent_id]
+			)
+			actions.append(action_dict)
+
+		_set_agent_actions(actions, agents_inference)
+		_reset_agents_if_done(agents_inference)
+		get_tree().set_pause(false)
+
+
+func _demo_record_process():
+	if not agent_demo_record:
+		return
+
+	if Input.is_action_just_pressed("RemoveLastDemoEpisode"):
+		print("[Sync script][Demo recorder] Removing last recorded episode.")
+		demo_trajectories.remove_at(demo_trajectories.size() - 1)
+		print("Remaining episode count: %d" % demo_trajectories.size())
+
+	if n_action_steps % agent_demo_record.action_repeat != 0:
+		return
+
+	var obs_dict: Dictionary = agent_demo_record.get_obs()
+
+	# Get the current obs from the agent
+	assert(
+		obs_dict.has("obs"),
+		"Demo recorder needs an 'obs' key in get_obs() returned dictionary to record obs from."
+	)
+	current_demo_trajectory[0].append(obs_dict.obs)
+
+	# Get the action applied for the current obs from the agent
+	agent_demo_record.set_action()
+	var acts = agent_demo_record.get_action()
+
+	var terminal = agent_demo_record.get_done()
+	# Record actions only for non-terminal states
+	if terminal:
+		agent_demo_record.set_done_false()
+	else:
+		current_demo_trajectory[1].append(acts)
+
+	if terminal:
+		#current_demo_trajectory[2].append(true)
+		demo_trajectories.append(current_demo_trajectory.duplicate(true))
+		print("[Sync script][Demo recorder] Recorded episode count: %d" % demo_trajectories.size())
+		current_demo_trajectory[0].clear()
+		current_demo_trajectory[1].clear()
+
+
+func _heuristic_process():
+	for agent in agents_heuristic:
+		_reset_agents_if_done(agents_heuristic)
+
+
+func _extract_action_dict(action_array: Array, action_space: Dictionary):
+	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
+
+
+## For AIControllers that inherit mode from sync, sets the correct mode.
+func _set_agent_mode(agent: Node):
+	var agent_inherits_mode: bool = agent.control_mode == agent.ControlModes.INHERIT_FROM_SYNC
+
+	if agent_inherits_mode:
+		match control_mode:
+			ControlModes.HUMAN:
+				agent.control_mode = agent.ControlModes.HUMAN
+			ControlModes.TRAINING:
+				agent.control_mode = agent.ControlModes.TRAINING
+			ControlModes.ONNX_INFERENCE:
+				agent.control_mode = agent.ControlModes.ONNX_INFERENCE
+
+
+func _get_agents():
+	all_agents = get_tree().get_nodes_in_group("AGENT")
+	for agent in all_agents:
+		_set_agent_mode(agent)
+
+		if agent.control_mode == agent.ControlModes.TRAINING:
+			agents_training.append(agent)
+		elif agent.control_mode == agent.ControlModes.ONNX_INFERENCE:
+			agents_inference.append(agent)
+		elif agent.control_mode == agent.ControlModes.HUMAN:
+			agents_heuristic.append(agent)
+		elif agent.control_mode == agent.ControlModes.RECORD_EXPERT_DEMOS:
+			assert(
+				not agent_demo_record,
+				"Currently only a single AIController can be used for recording expert demos."
+			)
+			agent_demo_record = agent
+
+
+func _set_heuristic(heuristic, agents: Array):
+	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, "", false))
+
+
+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_training)
+	}
+	_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_float()
+
+
+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_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, agents_training)
+		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 all_agents:
+		returns.append(agent.call(method))
+
+	return returns
+
+
+func _reset_agents_if_done(agents = all_agents):
+	for agent in agents:
+		if agent.get_done():
+			agent.set_done_false()
+
+
+func _reset_agents(agents = all_agents):
+	for agent in agents:
+		agent.needs_reset = true
+		#agent.reset()
+
+
+func _get_obs_from_agents(agents: Array = all_agents):
+	var obs = []
+	for agent in agents:
+		obs.append(agent.get_obs())
+	return obs
+
+
+func _get_reward_from_agents(agents: Array = agents_training):
+	var rewards = []
+	for agent in agents:
+		rewards.append(agent.get_reward())
+		agent.zero_reward()
+	return rewards
+
+
+func _get_done_from_agents(agents: Array = agents_training):
+	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, agents: Array = all_agents):
+	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
+
+
+## Save recorded export demos on window exit (Close window instead of "Stop" button in Godot Editor)
+func _notification(what):
+	if not agent_demo_record:
+		return
+
+	if what == NOTIFICATION_PREDELETE:
+		var json_string = JSON.stringify(demo_trajectories, "", false)
+		var file = FileAccess.open(agent_demo_record.expert_demo_save_path, FileAccess.WRITE)
+
+		if not file:
+			var error: Error = FileAccess.get_open_error()
+			assert(not error, "There was an error opening the file: %d" % error)
+
+		file.store_line(json_string)
+		var error = file.get_error()
+		assert(not error, "There was an error after trying to write to the file: %d" % error)

assets/boat_large.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29c3e0cc6e37b33d252e21d5aa7506cdf6b736fd617bfa03ae06f71234aa9f01
+size 9210

assets/chest.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb50255571a664695fe07a0f87b94a09577d81d12dbdcad4fd7c5fb60f6a54d4
+size 35460

assets/chest.gltf

@@ -0,0 +1,367 @@
+{
+  "accessors": [
+    {
+      "bufferView": 0,
+      "componentType": 5126,
+      "count": 138,
+      "type": "VEC3",
+      "max": [
+        0.35749998688697815,
+        0.5189443826675415,
+        0.31499999761581421
+      ],
+      "min": [
+        -0.35749998688697815,
+        -2.3023550782357022E-18,
+        -0.3182252049446106
+      ]
+    },
+    {
+      "bufferView": 1,
+      "componentType": 5126,
+      "count": 138,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 2,
+      "componentType": 5126,
+      "count": 138,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        1.0
+      ]
+    },
+    {
+      "bufferView": 3,
+      "componentType": 5126,
+      "count": 138,
+      "type": "VEC2",
+      "max": [
+        28.149606704711914,
+        25.803150177001953
+      ],
+      "min": [
+        -28.149606704711914,
+        -39.861763000488281
+      ]
+    },
+    {
+      "bufferView": 4,
+      "componentType": 5121,
+      "count": 228,
+      "type": "SCALAR",
+      "max": [
+        117.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 5,
+      "componentType": 5121,
+      "count": 48,
+      "type": "SCALAR",
+      "max": [
+        137.0
+      ],
+      "min": [
+        22.0
+      ]
+    },
+    {
+      "bufferView": 6,
+      "componentType": 5126,
+      "count": 550,
+      "type": "VEC3",
+      "max": [
+        0.38249999284744263,
+        0.34314814209938049,
+        0.077209904789924622
+      ],
+      "min": [
+        -0.38249999284744263,
+        0.0,
+        -0.60640990734100342
+      ]
+    },
+    {
+      "bufferView": 7,
+      "componentType": 5126,
+      "count": 550,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        0.99144488573074341
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -0.99144488573074341
+      ]
+    },
+    {
+      "bufferView": 8,
+      "componentType": 5126,
+      "count": 550,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        1.0
+      ]
+    },
+    {
+      "bufferView": 9,
+      "componentType": 5126,
+      "count": 550,
+      "type": "VEC2",
+      "max": [
+        47.748813629150391,
+        42.669292449951172
+      ],
+      "min": [
+        -47.748813629150391,
+        -46.444786071777344
+      ]
+    },
+    {
+      "bufferView": 10,
+      "componentType": 5123,
+      "count": 624,
+      "type": "SCALAR",
+      "max": [
+        341.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 11,
+      "componentType": 5123,
+      "count": 456,
+      "type": "SCALAR",
+      "max": [
+        549.0
+      ],
+      "min": [
+        33.0
+      ]
+    }
+  ],
+  "asset": {
+    "version": "2.0"
+  },
+  "buffers": [
+    {
+      "uri": "chest.bin",
+      "byteLength": 35460
+    }
+  ],
+  "bufferViews": [
+    {
+      "buffer": 0,
+      "byteLength": 1656
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 1656,
+      "byteLength": 1656
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 3312,
+      "byteLength": 2208
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 5520,
+      "byteLength": 1104
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 6624,
+      "byteLength": 228
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 6852,
+      "byteLength": 48
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 6900,
+      "byteLength": 6600
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 13500,
+      "byteLength": 6600
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 20100,
+      "byteLength": 8800
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 28900,
+      "byteLength": 4400
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 33300,
+      "byteLength": 1248
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 34548,
+      "byteLength": 912
+    }
+  ],
+  "materials": [
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.7294118,
+          0.4627451,
+          0.2784314,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "wood"
+    },
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.58431375,
+          0.6862745,
+          0.75686276,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "stone"
+    }
+  ],
+  "meshes": [
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 4,
+          "material": 0
+        },
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 5,
+          "material": 1
+        }
+      ],
+      "name": "chest"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 6,
+            "NORMAL": 7,
+            "TANGENT": 8,
+            "TEXCOORD_0": 9
+          },
+          "indices": 10,
+          "material": 0
+        },
+        {
+          "attributes": {
+            "POSITION": 6,
+            "NORMAL": 7,
+            "TANGENT": 8,
+            "TEXCOORD_0": 9
+          },
+          "indices": 11,
+          "material": 1
+        }
+      ],
+      "name": "lid"
+    }
+  ],
+  "nodes": [
+    {
+      "children": [
+        1
+      ],
+      "mesh": 0,
+      "scale": [
+        0.64,
+        0.64,
+        0.64
+      ],
+      "translation": [
+        -2.62998271,
+        7.21911464E-16,
+        -6.29410934
+      ],
+      "name": "chest"
+    },
+    {
+      "mesh": 1,
+      "translation": [
+        0.0,
+        0.515,
+        0.2646
+      ],
+      "name": "lid"
+    }
+  ],
+  "scene": 0,
+  "scenes": [
+    {
+      "nodes": [
+        0
+      ],
+      "name": "chest"
+    }
+  ]
+}

assets/ship_light.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ca919f496cfd21ee0ce744484486cc64424adfbf5df90c96945506f6bc78da0
+size 506820

assets/ship_light.gltf

@@ -0,0 +1,1725 @@
+{
+  "accessors": [
+    {
+      "bufferView": 0,
+      "componentType": 5126,
+      "count": 4820,
+      "type": "VEC3",
+      "max": [
+        1.4250975847244263,
+        6.545872688293457,
+        3.2479171752929688
+      ],
+      "min": [
+        -1.4250975847244263,
+        -1.8047785270195561E-16,
+        -4.8496489524841309
+      ]
+    },
+    {
+      "bufferView": 1,
+      "componentType": 5126,
+      "count": 4820,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 2,
+      "componentType": 5126,
+      "count": 4820,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.052688907831907272,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -0.052688851952552795,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 3,
+      "componentType": 5126,
+      "count": 4820,
+      "type": "VEC2",
+      "max": [
+        375.39724731445313,
+        326.95660400390625
+      ],
+      "min": [
+        -375.39724731445313,
+        -519.82818603515625
+      ]
+    },
+    {
+      "bufferView": 4,
+      "componentType": 5123,
+      "count": 5949,
+      "type": "SCALAR",
+      "max": [
+        2954.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 5,
+      "componentType": 5123,
+      "count": 1254,
+      "type": "SCALAR",
+      "max": [
+        3628.0
+      ],
+      "min": [
+        2955.0
+      ]
+    },
+    {
+      "bufferView": 6,
+      "componentType": 5123,
+      "count": 864,
+      "type": "SCALAR",
+      "max": [
+        3916.0
+      ],
+      "min": [
+        367.0
+      ]
+    },
+    {
+      "bufferView": 7,
+      "componentType": 5123,
+      "count": 156,
+      "type": "SCALAR",
+      "max": [
+        3976.0
+      ],
+      "min": [
+        3917.0
+      ]
+    },
+    {
+      "bufferView": 8,
+      "componentType": 5123,
+      "count": 1296,
+      "type": "SCALAR",
+      "max": [
+        4816.0
+      ],
+      "min": [
+        3977.0
+      ]
+    },
+    {
+      "bufferView": 9,
+      "componentType": 5123,
+      "count": 3,
+      "type": "SCALAR",
+      "max": [
+        4819.0
+      ],
+      "min": [
+        4817.0
+      ]
+    },
+    {
+      "bufferView": 10,
+      "componentType": 5126,
+      "count": 216,
+      "type": "VEC3",
+      "max": [
+        0.21723608672618866,
+        0.38839432597160339,
+        0.11717912554740906
+      ],
+      "min": [
+        -0.21723608672618866,
+        0.0,
+        -0.11717912554740906
+      ]
+    },
+    {
+      "bufferView": 11,
+      "componentType": 5126,
+      "count": 216,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 12,
+      "componentType": 5126,
+      "count": 216,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        1.0
+      ]
+    },
+    {
+      "bufferView": 13,
+      "componentType": 5126,
+      "count": 216,
+      "type": "VEC2",
+      "max": [
+        17.105203628540039,
+        10.226702690124512
+      ],
+      "min": [
+        -17.105203628540039,
+        -29.582231521606445
+      ]
+    },
+    {
+      "bufferView": 14,
+      "componentType": 5121,
+      "count": 144,
+      "type": "SCALAR",
+      "max": [
+        95.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 15,
+      "componentType": 5121,
+      "count": 288,
+      "type": "SCALAR",
+      "max": [
+        215.0
+      ],
+      "min": [
+        96.0
+      ]
+    },
+    {
+      "bufferView": 16,
+      "componentType": 5126,
+      "count": 1344,
+      "type": "VEC3",
+      "max": [
+        0.13824114203453064,
+        0.13824114203453064,
+        0.21974015235900879
+      ],
+      "min": [
+        -0.13824114203453064,
+        -0.13824114203453064,
+        -0.35504752397537231
+      ]
+    },
+    {
+      "bufferView": 17,
+      "componentType": 5126,
+      "count": 1344,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 18,
+      "componentType": 5126,
+      "count": 1344,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.1078750342130661,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -0.1078750416636467,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 19,
+      "componentType": 5126,
+      "count": 1344,
+      "type": "VEC2",
+      "max": [
+        27.956497192382813,
+        15.244912147521973
+      ],
+      "min": [
+        -27.956497192382813,
+        -13.244912147521973
+      ]
+    },
+    {
+      "bufferView": 20,
+      "componentType": 5123,
+      "count": 2568,
+      "type": "SCALAR",
+      "max": [
+        1343.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 21,
+      "componentType": 5126,
+      "count": 252,
+      "type": "VEC3",
+      "max": [
+        0.21723608672618866,
+        0.55602347850799561,
+        0.3171791136264801
+      ],
+      "min": [
+        -0.21723608672618866,
+        0.10180000215768814,
+        -0.26217913627624512
+      ]
+    },
+    {
+      "bufferView": 22,
+      "componentType": 5126,
+      "count": 252,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 23,
+      "componentType": 5126,
+      "count": 252,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        1.0
+      ]
+    },
+    {
+      "bufferView": 24,
+      "componentType": 5126,
+      "count": 252,
+      "type": "VEC2",
+      "max": [
+        24.974733352661133,
+        21.644025802612305
+      ],
+      "min": [
+        -24.974733352661133,
+        -42.781375885009766
+      ]
+    },
+    {
+      "bufferView": 25,
+      "componentType": 5121,
+      "count": 144,
+      "type": "SCALAR",
+      "max": [
+        95.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 26,
+      "componentType": 5121,
+      "count": 360,
+      "type": "SCALAR",
+      "max": [
+        251.0
+      ],
+      "min": [
+        96.0
+      ]
+    },
+    {
+      "bufferView": 27,
+      "componentType": 5126,
+      "count": 288,
+      "type": "VEC3",
+      "max": [
+        1.1550582572925159E-14,
+        0.12839999794960022,
+        0.12839999794960022
+      ],
+      "min": [
+        -0.09920000284910202,
+        -0.12839999794960022,
+        -0.12839999794960022
+      ]
+    },
+    {
+      "bufferView": 28,
+      "componentType": 5126,
+      "count": 288,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 29,
+      "componentType": 5126,
+      "count": 288,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        1.0
+      ]
+    },
+    {
+      "bufferView": 30,
+      "componentType": 5126,
+      "count": 288,
+      "type": "VEC2",
+      "max": [
+        10.110236167907715,
+        11.110236167907715
+      ],
+      "min": [
+        -10.110236167907715,
+        -9.1102361679077148
+      ]
+    },
+    {
+      "bufferView": 31,
+      "componentType": 5121,
+      "count": 144,
+      "type": "SCALAR",
+      "max": [
+        95.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 32,
+      "componentType": 5123,
+      "count": 420,
+      "type": "SCALAR",
+      "max": [
+        287.0
+      ],
+      "min": [
+        96.0
+      ]
+    },
+    {
+      "bufferView": 33,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC3",
+      "max": [
+        0.0,
+        2.9721910953521729,
+        0.66404557228088379
+      ],
+      "min": [
+        -2.7077615261077881,
+        0.0,
+        0.020585935562849045
+      ]
+    },
+    {
+      "bufferView": 34,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 35,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 36,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC2",
+      "max": [
+        217.34634399414063,
+        204.70127868652344
+      ],
+      "min": [
+        -218.55166625976563,
+        -252.76840209960938
+      ]
+    },
+    {
+      "bufferView": 37,
+      "componentType": 5121,
+      "count": 360,
+      "type": "SCALAR",
+      "max": [
+        235.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 38,
+      "componentType": 5123,
+      "count": 120,
+      "type": "SCALAR",
+      "max": [
+        303.0
+      ],
+      "min": [
+        236.0
+      ]
+    },
+    {
+      "bufferView": 39,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC3",
+      "max": [
+        0.0,
+        2.397191047668457,
+        0.60904556512832642
+      ],
+      "min": [
+        -2.7076854705810547,
+        0.0,
+        0.0
+      ]
+    },
+    {
+      "bufferView": 40,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 41,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 42,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC2",
+      "max": [
+        217.38507080078125,
+        206.31678771972656
+      ],
+      "min": [
+        -217.440185546875,
+        -236.98951721191406
+      ]
+    },
+    {
+      "bufferView": 43,
+      "componentType": 5121,
+      "count": 360,
+      "type": "SCALAR",
+      "max": [
+        235.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 44,
+      "componentType": 5123,
+      "count": 120,
+      "type": "SCALAR",
+      "max": [
+        303.0
+      ],
+      "min": [
+        236.0
+      ]
+    },
+    {
+      "bufferView": 45,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC3",
+      "max": [
+        0.0,
+        2.9721910953521729,
+        0.60904556512832642
+      ],
+      "min": [
+        -2.7076854705810547,
+        0.0,
+        0.0
+      ]
+    },
+    {
+      "bufferView": 46,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 47,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        0.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 48,
+      "componentType": 5126,
+      "count": 304,
+      "type": "VEC2",
+      "max": [
+        217.38507080078125,
+        202.53703308105469
+      ],
+      "min": [
+        -217.440185546875,
+        -252.85726928710938
+      ]
+    },
+    {
+      "bufferView": 49,
+      "componentType": 5121,
+      "count": 360,
+      "type": "SCALAR",
+      "max": [
+        235.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 50,
+      "componentType": 5123,
+      "count": 120,
+      "type": "SCALAR",
+      "max": [
+        303.0
+      ],
+      "min": [
+        236.0
+      ]
+    },
+    {
+      "bufferView": 51,
+      "componentType": 5126,
+      "count": 1984,
+      "type": "VEC3",
+      "max": [
+        0.32805001735687256,
+        0.32805001735687256,
+        0.212290957570076
+      ],
+      "min": [
+        -0.32805001735687256,
+        -0.32805001735687256,
+        0.0
+      ]
+    },
+    {
+      "bufferView": 52,
+      "componentType": 5126,
+      "count": 1984,
+      "type": "VEC3",
+      "max": [
+        1.0,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 53,
+      "componentType": 5126,
+      "count": 1984,
+      "type": "VEC4",
+      "max": [
+        1.0,
+        0.075392015278339386,
+        1.0,
+        1.0
+      ],
+      "min": [
+        -1.0,
+        -0.075392015278339386,
+        -1.0,
+        -1.0
+      ]
+    },
+    {
+      "bufferView": 54,
+      "componentType": 5126,
+      "count": 1984,
+      "type": "VEC2",
+      "max": [
+        25.830709457397461,
+        26.830709457397461
+      ],
+      "min": [
+        -25.830709457397461,
+        -24.830709457397461
+      ]
+    },
+    {
+      "bufferView": 55,
+      "componentType": 5123,
+      "count": 3540,
+      "type": "SCALAR",
+      "max": [
+        1823.0
+      ],
+      "min": [
+        0.0
+      ]
+    },
+    {
+      "bufferView": 56,
+      "componentType": 5123,
+      "count": 336,
+      "type": "SCALAR",
+      "max": [
+        1983.0
+      ],
+      "min": [
+        1824.0
+      ]
+    }
+  ],
+  "asset": {
+    "version": "2.0"
+  },
+  "buffers": [
+    {
+      "uri": "ship_light.bin",
+      "byteLength": 506820
+    }
+  ],
+  "bufferViews": [
+    {
+      "buffer": 0,
+      "byteLength": 57840
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 57840,
+      "byteLength": 57840
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 115680,
+      "byteLength": 77120
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 192800,
+      "byteLength": 38560
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 231360,
+      "byteLength": 11898
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 243258,
+      "byteLength": 2508
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 245766,
+      "byteLength": 1728
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 247494,
+      "byteLength": 312
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 247806,
+      "byteLength": 2592
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 250398,
+      "byteLength": 6
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 250404,
+      "byteLength": 2592
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 252996,
+      "byteLength": 2592
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 255588,
+      "byteLength": 3456
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 259044,
+      "byteLength": 1728
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 260772,
+      "byteLength": 144
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 260916,
+      "byteLength": 288
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 261204,
+      "byteLength": 16128
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 277332,
+      "byteLength": 16128
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 293460,
+      "byteLength": 21504
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 314964,
+      "byteLength": 10752
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 325716,
+      "byteLength": 5136
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 330852,
+      "byteLength": 3024
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 333876,
+      "byteLength": 3024
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 336900,
+      "byteLength": 4032
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 340932,
+      "byteLength": 2016
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 342948,
+      "byteLength": 144
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 343092,
+      "byteLength": 360
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 343452,
+      "byteLength": 3456
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 346908,
+      "byteLength": 3456
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 350364,
+      "byteLength": 4608
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 354972,
+      "byteLength": 2304
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 357276,
+      "byteLength": 144
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 357420,
+      "byteLength": 840
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 358260,
+      "byteLength": 3648
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 361908,
+      "byteLength": 3648
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 365556,
+      "byteLength": 4864
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 370420,
+      "byteLength": 2432
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 372852,
+      "byteLength": 360
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 373212,
+      "byteLength": 240
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 373452,
+      "byteLength": 3648
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 377100,
+      "byteLength": 3648
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 380748,
+      "byteLength": 4864
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 385612,
+      "byteLength": 2432
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 388044,
+      "byteLength": 360
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 388404,
+      "byteLength": 240
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 388644,
+      "byteLength": 3648
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 392292,
+      "byteLength": 3648
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 395940,
+      "byteLength": 4864
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 400804,
+      "byteLength": 2432
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 403236,
+      "byteLength": 360
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 403596,
+      "byteLength": 240
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 403836,
+      "byteLength": 23808
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 427644,
+      "byteLength": 23808
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 451452,
+      "byteLength": 31744
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 483196,
+      "byteLength": 15872
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 499068,
+      "byteLength": 7080
+    },
+    {
+      "buffer": 0,
+      "byteOffset": 506148,
+      "byteLength": 672
+    }
+  ],
+  "materials": [
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.7294118,
+          0.4627451,
+          0.2784314,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "wood"
+    },
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.521568656,
+          0.329411775,
+          0.196078435,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "woodDark"
+    },
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.3764706,
+          0.3764706,
+          0.3764706,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "iron"
+    },
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.6627451,
+          0.7372549,
+          0.768627465,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "window"
+    },
+    {
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.819607854,
+          0.7529412,
+          0.670588255,
+          1.0
+        ],
+        "metallicFactor": 0.25,
+        "roughnessFactor": 0.84999999403953552
+      },
+      "name": "textile"
+    },
+    {
+      "pbrMetallicRoughness": {
+        "metallicFactor": 0.0,
+        "roughnessFactor": 0.5
+      },
+      "name": "_defaultMat"
+    }
+  ],
+  "meshes": [
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 4,
+          "material": 0
+        },
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 5,
+          "material": 1
+        },
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 6,
+          "material": 2
+        },
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 7,
+          "material": 3
+        },
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 8,
+          "material": 4
+        },
+        {
+          "attributes": {
+            "POSITION": 0,
+            "NORMAL": 1,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 9,
+          "material": 5
+        }
+      ],
+      "name": "ship_light_8angles"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 10,
+            "NORMAL": 11,
+            "TANGENT": 12,
+            "TEXCOORD_0": 13
+          },
+          "indices": 14,
+          "material": 2
+        },
+        {
+          "attributes": {
+            "POSITION": 10,
+            "NORMAL": 11,
+            "TANGENT": 12,
+            "TEXCOORD_0": 13
+          },
+          "indices": 15,
+          "material": 0
+        }
+      ],
+      "name": "cannon_front 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 16,
+            "NORMAL": 17,
+            "TANGENT": 18,
+            "TEXCOORD_0": 19
+          },
+          "indices": 20,
+          "material": 2
+        }
+      ],
+      "name": "cannon_front 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 21,
+            "NORMAL": 22,
+            "TANGENT": 23,
+            "TEXCOORD_0": 24
+          },
+          "indices": 25,
+          "material": 2
+        },
+        {
+          "attributes": {
+            "POSITION": 21,
+            "NORMAL": 22,
+            "TANGENT": 23,
+            "TEXCOORD_0": 24
+          },
+          "indices": 26,
+          "material": 0
+        }
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 27,
+            "NORMAL": 28,
+            "TANGENT": 29,
+            "TEXCOORD_0": 30
+          },
+          "indices": 31,
+          "material": 2
+        },
+        {
+          "attributes": {
+            "POSITION": 27,
+            "NORMAL": 28,
+            "TANGENT": 29,
+            "TEXCOORD_0": 30
+          },
+          "indices": 32,
+          "material": 0
+        }
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 33,
+            "NORMAL": 34,
+            "TANGENT": 35,
+            "TEXCOORD_0": 36
+          },
+          "indices": 37,
+          "material": 4
+        },
+        {
+          "attributes": {
+            "POSITION": 33,
+            "NORMAL": 34,
+            "TANGENT": 35,
+            "TEXCOORD_0": 36
+          },
+          "indices": 38,
+          "material": 0
+        }
+      ],
+      "name": "sail_back 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 39,
+            "NORMAL": 40,
+            "TANGENT": 41,
+            "TEXCOORD_0": 42
+          },
+          "indices": 43,
+          "material": 4
+        },
+        {
+          "attributes": {
+            "POSITION": 39,
+            "NORMAL": 40,
+            "TANGENT": 41,
+            "TEXCOORD_0": 42
+          },
+          "indices": 44,
+          "material": 0
+        }
+      ],
+      "name": "sail_front 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 45,
+            "NORMAL": 46,
+            "TANGENT": 47,
+            "TEXCOORD_0": 48
+          },
+          "indices": 49,
+          "material": 4
+        },
+        {
+          "attributes": {
+            "POSITION": 45,
+            "NORMAL": 46,
+            "TANGENT": 47,
+            "TEXCOORD_0": 48
+          },
+          "indices": 50,
+          "material": 0
+        }
+      ],
+      "name": "sail_middle 1"
+    },
+    {
+      "primitives": [
+        {
+          "attributes": {
+            "POSITION": 51,
+            "NORMAL": 52,
+            "TANGENT": 53,
+            "TEXCOORD_0": 54
+          },
+          "indices": 55,
+          "material": 0
+        },
+        {
+          "attributes": {
+            "POSITION": 51,
+            "NORMAL": 52,
+            "TANGENT": 53,
+            "TEXCOORD_0": 54
+          },
+          "indices": 56,
+          "material": 2
+        }
+      ],
+      "name": "steering 1"
+    }
+  ],
+  "nodes": [
+    {
+      "children": [
+        1,
+        3,
+        9,
+        15,
+        16,
+        17,
+        18
+      ],
+      "mesh": 0,
+      "translation": [
+        -0.715097547,
+        2.14768643E-14,
+        0.0144567313
+      ],
+      "name": "ship_light_8angles"
+    },
+    {
+      "children": [
+        2
+      ],
+      "mesh": 1,
+      "translation": [
+        8.662937E-15,
+        1.43707323,
+        -3.61592531
+      ],
+      "name": "cannon_front 1"
+    },
+    {
+      "mesh": 2,
+      "rotation": [
+        0.0366437137,
+        0.0,
+        0.0,
+        0.9993284
+      ],
+      "scale": [
+        1.0,
+        0.99999994,
+        0.99999994
+      ],
+      "translation": [
+        -1.44382282E-15,
+        0.277633131,
+        -0.0673608
+      ],
+      "name": "cannon_front 1"
+    },
+    {
+      "children": [
+        4,
+        5,
+        6,
+        7,
+        8
+      ],
+      "mesh": 3,
+      "rotation": [
+        0.0,
+        0.7071068,
+        0.0,
+        0.7071068
+      ],
+      "translation": [
+        -0.760400534,
+        1.27739835,
+        -1.681064
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "mesh": 2,
+      "rotation": [
+        0.04623474,
+        -1.00726774E-28,
+        1.65558261E-30,
+        0.998930633
+      ],
+      "translation": [
+        -2.88764564E-15,
+        0.443967849,
+        -0.06746836
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "mesh": 4,
+      "translation": [
+        -0.217236087,
+        0.1284,
+        0.262179136
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "mesh": 4,
+      "rotation": [
+        0.0,
+        -1.0,
+        0.0,
+        7.45057749E-09
+      ],
+      "translation": [
+        0.217236087,
+        0.1284,
+        0.262179136
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "mesh": 4,
+      "translation": [
+        -0.217236087,
+        0.1284,
+        -0.197179124
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "mesh": 4,
+      "rotation": [
+        0.0,
+        -1.0,
+        0.0,
+        7.45057749E-09
+      ],
+      "translation": [
+        0.217236087,
+        0.1284,
+        -0.197179124
+      ],
+      "name": "cannon_left 1"
+    },
+    {
+      "children": [
+        10,
+        11,
+        12,
+        13,
+        14
+      ],
+      "mesh": 3,
+      "rotation": [
+        0.0,
+        -0.7071068,
+        0.0,
+        0.7071068
+      ],
+      "translation": [
+        0.760400534,
+        1.27739835,
+        -1.681064
+      ],
+      "name": "cannon_right 1"
+    },
+    {
+      "mesh": 2,
+      "rotation": [
+        0.04623474,
+        -1.00726774E-28,
+        1.65558261E-30,
+        0.998930633
+      ],
+      "translation": [
+        -2.88764564E-15,
+        0.443967849,
+        -0.06746836
+      ],
+      "name": "cannon_right 1"
+    },
+    {
+      "mesh": 4,
+      "translation": [
+        -0.217236087,
+        0.1284,
+        0.262179136
+      ],
+      "name": "cannon_right 1"
+    },
+    {
+      "mesh": 4,
+      "rotation": [
+        0.0,
+        -1.0,
+        0.0,
+        7.45057749E-09
+      ],
+      "translation": [
+        0.217236087,
+        0.1284,
+        0.262179136
+      ],
+      "name": "cannon_right 1"
+    },
+    {
+      "mesh": 4,
+      "translation": [
+        -0.217236087,
+        0.1284,
+        -0.197179124
+      ],
+      "name": "cannon_right 1"
+    },
+    {
+      "mesh": 4,
+      "rotation": [
+        0.0,
+        -1.0,
+        0.0,
+        7.45057749E-09
+      ],
+      "translation": [
+        0.217236087,
+        0.1284,
+        -0.197179124
+      ],
+      "name": "cannon_right 1"
+    },
+    {
+      "mesh": 5,
+      "translation": [
+        1.35384274,
+        3.03424788,
+        1.8643955
+      ],
+      "name": "sail_back 1"
+    },
+    {
+      "mesh": 6,
+      "translation": [
+        1.35384274,
+        1.604248,
+        -3.20060444
+      ],
+      "name": "sail_front 1"
+    },
+    {
+      "mesh": 7,
+      "translation": [
+        1.35384274,
+        1.604248,
+        -1.54560447
+      ],
+      "name": "sail_middle 1"
+    },
+    {
+      "mesh": 8,
+      "translation": [
+        -2.88764564E-15,
+        2.775925,
+        1.05056143
+      ],
+      "name": "steering 1"
+    }
+  ],
+  "scene": 0,
+  "scenes": [
+    {
+      "nodes": [
+        0
+      ],
+      "name": "ship_light"
+    }
+  ]
+}

assets/sunflowers_puresky_2k.hdr

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430861cb722951c1eeff3b3c5762e7e73a610fcffc4186b5d828c5e7557fe1b4
+size 5658712

chest.gd

@@ -0,0 +1,22 @@
+extends MeshInstance3D
+@onready var area_3d = $Area3D
+
+func _on_area_3d_body_entered(body):
+	if body is Player:
+		body.chest_collected()
+		call_deferred("respawn")
+		
+func respawn():
+	hide()
+	area_3d.set_monitoring(false)
+	area_3d.set_monitorable(false)	
+	await get_tree().create_timer(10.0).timeout
+	area_3d.set_monitoring(true)
+	area_3d.set_monitorable(true)	
+	show()
+
+func get_mesh_aabb() -> AABB:
+	var aabb = mesh.get_aabb()
+	aabb.position *= scale.x
+	aabb.size *= scale.x
+	return aabb

deque.gd

@@ -0,0 +1,84 @@
+class_name Deque
+
+var _data : Array = []
+var _current_index : int = 0
+var max_size : int = -1:
+	set(value):
+		# Sets the maximum size and ensures the deque conforms to this size.
+		max_size = value
+		_current_index = 0
+		while _data.size() > max_size:
+			_data.pop_back()
+
+# Appends an element to the end of the deque.
+func push_back(value) -> void:
+	if max_size > -1 and _data.size() >= max_size:
+		_data.pop_front()
+	_data.append(value)
+
+# Adds an element to the beginning of the deque.
+func push_front(value) -> void:
+	if max_size > -1 and _data.size() >= max_size:
+		_data.pop_back()
+	_data.insert(0, value)
+
+# Removes and returns the last element of the deque.
+func pop_back() -> Variant:
+	if _data.size() == 0:
+		return null
+	return _data.pop_back()
+
+# Removes and returns the first element of the deque.
+func pop_front() -> Variant:
+	if _data.size() == 0:
+		return null
+	return _data.pop_front()
+
+# Returns the last element of the deque without removing it.
+func back() -> Variant:
+	if _data.size() == 0:
+		return null
+	return _data[_data.size() - 1]
+
+# Returns the first element of the deque without removing it.
+func front() -> Variant:
+	if _data.size() == 0:
+		return null
+	return _data[0]
+
+# Returns the number of elements in the deque.
+func size() -> int:
+	return _data.size()
+
+# Checks if the deque is empty.
+func is_empty() -> bool:
+	return _data.size() == 0
+
+# Clears the deque.
+func clear() -> void:
+	_data.clear()
+
+# Start of iteration. Resets the current index.
+func _iter_init(arg) -> bool:
+	_current_index = 0
+	return _current_index < _data.size()
+
+# Moves to the next item in the sequence.
+func _iter_next(arg) -> bool:
+	_current_index += 1
+	return _current_index < _data.size()
+
+# Returns the current item in the sequence.
+func _iter_get(arg) -> Variant:
+	if _current_index < _data.size():
+		return _data[_current_index]
+	return null
+
+# Reset current index when setting max size
+func set_max_size(value: int) -> void:
+	max_size = value
+	_current_index = 0
+	while _data.size() > max_size:
+		_data.pop_back()
+
+

game.gd

@@ -0,0 +1,88 @@
+extends Node3D
+
+@onready var islands = $Islands
+@onready var mines = $Mines
+@onready var chests = $Chests
+
+@export var n_islands := 100
+@export var n_chests := 100
+@export var n_mines := 100
+
+@export var world_size := Rect2(-50, -50, 100, 100)
+@export var spawn_zone := Rect2(-5, -5, 10, 10)
+
+var island_scenes = [preload("res://islands.tscn")]
+var chest_scenes = [preload("res://chest.tscn")]
+var mine_scenes = [preload("res://mine.tscn")]
+
+var bbs : Array[Rect2]= []
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	randomize()
+	spawn_world()
+	$Player.reset_signal.connect(spawn_world)
+
+
+func spawn_world():
+	bbs.clear()
+	bbs.append(spawn_zone)
+	spawn_islands()
+	spawn_chests()
+	spawn_mines()
+	
+	
+func bb_overlaps(rect: Rect2, border:float)->bool:
+	var expanded_rect = rect.grow(border)
+	for bb in bbs:
+		if bb.intersects(expanded_rect):
+			return true
+	
+	return false
+
+
+func find_valid_position(aabb, border:float) -> Vector2:
+	var x_pos = randf_range(world_size.position.x, world_size.end.x)
+	var z_pos = randf_range(world_size.position.y, world_size.end.y)
+	var aabb2d = Rect2(Vector2(aabb.position.x+x_pos, aabb.position.z+z_pos), Vector2(aabb.size.x, aabb.size.z))
+
+	while bb_overlaps(aabb2d, border): # change to n_tries
+		x_pos = randf_range(world_size.position.x, world_size.end.x)
+		z_pos = randf_range(world_size.position.y, world_size.end.y)
+		aabb2d = Rect2(Vector2(aabb.position.x+x_pos, aabb.position.z+z_pos), Vector2(aabb.size.x, aabb.size.z))
+		
+	return Vector2(aabb.position.x+x_pos, aabb.position.z+z_pos)
+	
+func spawn_scene(scene, border:float):
+	var instance = scene.instantiate()
+	var aabb = instance.get_mesh_aabb()
+	var spawn_position = find_valid_position(aabb,border)
+	var aabb2d = Rect2(spawn_position, Vector2(aabb.size.x, aabb.size.z))
+	
+	bbs.append(aabb2d)
+	instance.position = Vector3(spawn_position.x, 0.0, spawn_position.y)
+	
+	instance.rotate_y(randf_range(0,2*PI))
+	
+	return instance
+
+
+func clear_and_spawn(parent, scenes: Array, count, border: float=5.0):
+	for child in parent.get_children():
+		child.queue_free()	
+
+	for i in count:
+		var scene = scenes.pick_random()
+		var instance = spawn_scene(scene, border)
+		parent.add_child(instance)
+		instance.set_owner(get_tree().edited_scene_root)
+
+func spawn_islands():
+	clear_and_spawn(islands, island_scenes, n_islands, 10.0)
+	
+func spawn_chests():
+	clear_and_spawn(chests, chest_scenes, n_chests)
+	
+func spawn_mines():
+	clear_and_spawn(mines, mine_scenes, n_mines)
+	
+