diff --git a/.gitattributes b/.gitattributes
index 55cab133643a2a73e083373d2106533678d0edd5..f5ece5afb7aa08fd9eb9c83947a77fb85be1b765 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -56,3 +56,4 @@ saved_model/**/* 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
+alps_field_2k.hdr filter=lfs diff=lfs merge=lfs -text
diff --git a/AIController3D.gd b/AIController3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..1b1620b05262241837da426d018a716446a4796f
--- /dev/null
+++ b/AIController3D.gd
@@ -0,0 +1,45 @@
+extends AIController3D
+
+
+func get_obs():
+ if _player.cur_goal == null:
+ _player.game_over()
+ var goal_vector = to_local(_player.cur_goal.position)
+ var goal_distance = goal_vector.length()
+ goal_vector = goal_vector.normalized()
+ goal_distance = clamp(goal_distance, 0.0, 50.0)
+
+ var next_goal = _player.environment.get_next_goal(_player.cur_goal)
+ var next_goal_vector = to_local(next_goal.position)
+ var next_goal_distance = next_goal_vector.length()
+ next_goal_vector = next_goal_vector.normalized()
+ next_goal_distance = clamp(next_goal_distance, 0.0, 50.0)
+
+ var obs = [
+ goal_vector.x,
+ goal_vector.y,
+ goal_vector.z,
+ goal_distance / 50.0,
+ next_goal_vector.x,
+ next_goal_vector.y,
+ next_goal_vector.z,
+ next_goal_distance / 50.0
+ ]
+
+ return {"obs": obs}
+
+
+func get_action_space():
+ return {
+ "pitch": {"size": 1, "action_type": "continuous"},
+ "turn": {"size": 1, "action_type": "continuous"}
+ }
+
+
+func set_action(action):
+ _player.turn_input = action["turn"][0]
+ _player.pitch_input = action["pitch"][0]
+
+
+func get_reward():
+ return reward
diff --git a/FlyBy.csproj b/FlyBy.csproj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e80431553b474825ae104f3d71f06c3dd56786
--- /dev/null
+++ b/FlyBy.csproj
@@ -0,0 +1,10 @@
+
+
+ net6.0
+ true
+ GodotRLAgents
+
+
+
+
+
\ No newline at end of file
diff --git a/FlyBy.gd b/FlyBy.gd
new file mode 100644
index 0000000000000000000000000000000000000000..1fdfd150c86f84de629699a2156c0f752bfb575c
--- /dev/null
+++ b/FlyBy.gd
@@ -0,0 +1,24 @@
+extends Node3D
+
+var goals = null
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+ goals = $Goals.get_children()
+
+
+func get_next_goal(current_goal):
+ if current_goal == null:
+ return goals[0]
+ var index = null
+ for i in len(goals):
+ if goals[i] == current_goal:
+ index = (i + 1) % len(goals)
+ break
+
+ return goals[index]
+
+
+func get_last_goal():
+ return goals[-1]
diff --git a/FlyBy.onnx b/FlyBy.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..0d837c7820753dcbe4f60bdfe878029cb7729abd
--- /dev/null
+++ b/FlyBy.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933de1f9ca8317c0efde301a441582ebe0ac338f7d9020c3d816631530628ddd
+size 21197
diff --git a/FlyBy.sln b/FlyBy.sln
new file mode 100644
index 0000000000000000000000000000000000000000..d8b58a0e0a1f74a7eac7fa70bacfd017016f906f
--- /dev/null
+++ b/FlyBy.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
diff --git a/FlyBy.tscn b/FlyBy.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..b6fabe92e56df0114e7737c6e985d6cedfd351db
--- /dev/null
+++ b/FlyBy.tscn
@@ -0,0 +1,312 @@
+[gd_scene load_steps=20 format=3 uid="uid://duev7xgoc7kvq"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="1"]
+[ext_resource type="Script" path="res://GameArea.gd" id="2"]
+[ext_resource type="Texture2D" uid="uid://cc7fd3cl63ky1" path="res://alps_field_2k.hdr" id="2_retnu"]
+[ext_resource type="PackedScene" uid="uid://bjx0dykb8q6kf" path="res://Goal.tscn" id="3"]
+[ext_resource type="Script" path="res://FlyBy.gd" id="4"]
+[ext_resource type="PackedScene" uid="uid://3xxv82w5v8bo" path="res://Plane.tscn" id="5"]
+[ext_resource type="Texture2D" uid="uid://bddbiy7gwtdyh" path="res://concrete_wall_004_diff_1k.jpg" id="7_mnp35"]
+[ext_resource type="Texture2D" uid="uid://bj56jsr1idhhk" path="res://concrete_wall_004_ao_1k.jpg" id="8_mhe64"]
+[ext_resource type="Texture2D" uid="uid://ow81638q14o" path="res://concrete_wall_004_arm_1k.jpg" id="9_1x60u"]
+[ext_resource type="Texture2D" uid="uid://drkdgeq22xo2f" path="res://concrete_wall_004_nor_gl_1k.jpg" id="10_x6htc"]
+
+[sub_resource type="PanoramaSkyMaterial" id="PanoramaSkyMaterial_88xh0"]
+panorama = ExtResource("2_retnu")
+
+[sub_resource type="Sky" id="Sky_bna3a"]
+sky_material = SubResource("PanoramaSkyMaterial_88xh0")
+
+[sub_resource type="Environment" id="Environment_1r6xt"]
+background_mode = 2
+sky = SubResource("Sky_bna3a")
+ambient_light_source = 3
+reflected_light_source = 2
+
+[sub_resource type="StandardMaterial3D" id="1"]
+transparency = 1
+albedo_color = Color(0.372549, 0.0823529, 0.109804, 0.705882)
+
+[sub_resource type="StandardMaterial3D" id="2"]
+albedo_color = Color(0.0862745, 0.211765, 0.12549, 1)
+uv1_scale = Vector3(0.5, 0.5, 0.5)
+uv1_triplanar = true
+
+[sub_resource type="StandardMaterial3D" id="3"]
+albedo_color = Color(0.0196078, 0.0313726, 0.0313726, 1)
+
+[sub_resource type="BoxShape3D" id="4"]
+size = Vector3(500, 102, 502)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_lnswx"]
+albedo_texture = ExtResource("7_mnp35")
+metallic = 1.0
+metallic_texture = ExtResource("9_1x60u")
+roughness_texture = ExtResource("9_1x60u")
+normal_enabled = true
+normal_texture = ExtResource("10_x6htc")
+ao_enabled = true
+ao_texture = ExtResource("8_mhe64")
+uv1_scale = Vector3(10, 10, 10)
+
+[sub_resource type="BoxMesh" id="5"]
+material = SubResource("StandardMaterial3D_lnswx")
+size = Vector3(500, 100, 2)
+
+[node name="FlyBy" type="Node3D"]
+script = ExtResource("4")
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.837719, 0.472938, -0.273051, -0.199304, 0.730284, 0.653424, 0.508434, -0.492966, 0.706031, -138.049, 226.704, 0)
+shadow_enabled = true
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_1r6xt")
+
+[node name="Goals" type="Node" parent="."]
+
+[node name="Goal" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 21, 35, -74)
+
+[node name="Goal2" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.965926, 0.258819, 1.13133e-08, 0, -4.37114e-08, 1, 0.258819, -0.965926, -4.2222e-08, 64, 35, -149)
+
+[node name="Goal3" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-5.96046e-08, 1, 4.37113e-08, 0, -4.37114e-08, 1, 1, 5.96046e-08, 2.30926e-14, 118, 54, -203)
+
+[node name="Goal4" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-0.707107, 0.707107, 3.09086e-08, 0, -4.37114e-08, 1, 0.707107, 0.707107, 3.09086e-08, 201, 42, -156)
+
+[node name="Goal5" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-1, 5.96046e-08, 2.30926e-14, 0, -4.37114e-08, 1, 5.96046e-08, 1, 4.37113e-08, 230, 35, -63)
+
+[node name="Goal6" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-1, -2.98023e-08, 1.77636e-15, 0, -4.37114e-08, 1, -2.98023e-08, 1, 4.37114e-08, 216, 17, 48)
+
+[node name="Goal7" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-0.866026, -0.5, -2.18557e-08, 0, -4.37114e-08, 1, -0.5, 0.866026, 3.78551e-08, 169, 40, 147)
+
+[node name="Goal8" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.258819, -0.965926, -4.2222e-08, 0, -4.37114e-08, 1, -0.965926, -0.258819, -1.13133e-08, 74, 30, 181)
+
+[node name="Goal9" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-2.98023e-07, -1, -4.37113e-08, 0, -4.37114e-08, 1, -1, 2.98023e-07, -4.08562e-14, 10, 45, 133)
+
+[node name="Goal10" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-0.5, -0.866025, -3.78552e-08, 0, -4.37114e-08, 1, -0.866025, 0.5, 2.18557e-08, -54, 16, 171)
+
+[node name="Goal11" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.5, -0.866026, -3.78551e-08, 0, -4.37114e-08, 1, -0.866026, -0.5, -2.18557e-08, -132, 20, 166)
+
+[node name="Goal12" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(1, -2.38419e-07, 4.26326e-14, 0, -4.37114e-08, 1, -2.38419e-07, -1, -4.37113e-08, -159, 35, 99)
+material = SubResource("1")
+
+[node name="Goal13" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.5, 0.866026, 3.78551e-08, 0, -4.37114e-08, 1, 0.866026, -0.5, -2.18556e-08, -123, 35, 22)
+material = SubResource("1")
+
+[node name="Goal14" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.707107, 0.707107, 3.09086e-08, 0, -4.37114e-08, 1, 0.707107, -0.707107, -3.09085e-08, -43, 35, -7)
+material = SubResource("1")
+
+[node name="Columns" type="CSGCombiner3D" parent="."]
+
+[node name="CSGBox3D" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 35, -7.6325, 0)
+size = Vector3(1000, 1, 1000)
+material = SubResource("2")
+
+[node name="CSGBox2" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 25, -81)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox3" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -84, 25, -38)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox16" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -83, 25, 31)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox17" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -58, 25, 31)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox18" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -163, 25, 31)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox19" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -185, 25, 113)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox20" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -130, 25, 92)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox4" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142, 25, 112)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox13" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 212, 25, 165)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox14" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 245, 25, 107)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox12" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 157, 25, 70)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox5" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 25, 187)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox15" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 129, 25, 215)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox6" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 25, -80)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox21" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 25, -80)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox7" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 125, 25, -164)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox11" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 185, 25, -218)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox10" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 74, 25, -226)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox8" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -74, 25, 91)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox9" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 102, 25, 130)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="GameArea" type="Area3D" parent="."]
+script = ExtResource("2")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="GameArea"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 35, 41, 1)
+shape = SubResource("4")
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("1")
+
+[node name="Plane" parent="." instance=ExtResource("5")]
+transform = Transform3D(-0.372224, 0.0145406, -0.928029, 0, 0.999877, 0.0156663, 0.928143, 0.00583138, -0.372178, -111.001, 77.3255, -109.24)
+turn_acc = 4.0
+
+[node name="Plane2" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane3" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane4" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane5" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane6" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane7" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane8" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane9" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane10" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane11" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane12" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane13" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane14" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane15" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 14, 27, -1)
+turn_acc = 4.0
+
+[node name="Plane16" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 14, 27, -1)
+turn_acc = 4.0
+
+[node name="Walls" type="Node" parent="."]
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 36, -24.1131, 252)
+mesh = SubResource("5")
+
+[node name="MeshInstance2" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 35, -24.1131, -251)
+mesh = SubResource("5")
+
+[node name="MeshInstance3" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -215, -24.1131, 1)
+mesh = SubResource("5")
+
+[node name="MeshInstance4" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, 285, -24.1131, -2)
+mesh = SubResource("5")
+
+[connection signal="body_exited" from="GameArea" to="GameArea" method="_on_GameArea_body_exited"]
diff --git a/GameArea.gd b/GameArea.gd
new file mode 100644
index 0000000000000000000000000000000000000000..6e825d4e34ce0b352a3823f65a5cd11bc2ececa8
--- /dev/null
+++ b/GameArea.gd
@@ -0,0 +1,5 @@
+extends Area3D
+
+
+func _on_GameArea_body_exited(body):
+ body.exited_game_area()
diff --git a/Goal.gd b/Goal.gd
new file mode 100644
index 0000000000000000000000000000000000000000..db4473d734f0478deef97501d270c35b8de21127
--- /dev/null
+++ b/Goal.gd
@@ -0,0 +1,6 @@
+extends CSGTorus3D
+
+
+
+func _on_Area_body_entered(body):
+ body.goal_reached(self)
diff --git a/Goal.tscn b/Goal.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..a0faefd582db9b6db818110b71bc4dc17a951775
--- /dev/null
+++ b/Goal.tscn
@@ -0,0 +1,27 @@
+[gd_scene load_steps=4 format=3 uid="uid://bjx0dykb8q6kf"]
+
+[ext_resource type="Script" path="res://Goal.gd" id="1"]
+
+[sub_resource type="StandardMaterial3D" id="1"]
+transparency = 1
+albedo_color = Color(0.372549, 0.0823529, 0.109804, 0.705882)
+
+[sub_resource type="CylinderShape3D" id="2"]
+height = 1.0
+radius = 5.0
+
+[node name="Goal" type="CSGTorus3D"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 34, 11)
+inner_radius = 8.0
+outer_radius = 10.0
+sides = 32
+ring_sides = 12
+material = SubResource("1")
+script = ExtResource("1")
+
+[node name="Area3D" type="Area3D" parent="."]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Area3D"]
+shape = SubResource("2")
+
+[connection signal="body_entered" from="Area3D" to="." method="_on_Area_body_entered"]
diff --git a/Plane.gd b/Plane.gd
new file mode 100644
index 0000000000000000000000000000000000000000..261debb173fd2b0681b231894a1e6087a5dbdbda
--- /dev/null
+++ b/Plane.gd
@@ -0,0 +1,122 @@
+extends CharacterBody3D
+
+# Maximum airspeed
+var max_flight_speed = 30
+# Turn rate
+@export var turn_speed = 5.0
+@export var level_speed = 12.0
+@export var turn_acc = 4.0
+# Climb/dive rate
+var pitch_speed = 2.0
+# Wings "autolevel" speed
+# Throttle change speed
+var throttle_delta = 30
+# Acceleration/deceleration
+var acceleration = 6.0
+# Current speed
+var forward_speed = 0
+# Throttle input speed
+var target_speed = 0
+
+#var velocity = Vector3.ZERO
+var found_goal = false
+var exited_arena = false
+var cur_goal = null
+@onready var environment = get_parent()
+@onready var ai_controller = $AIController3D
+# ------- #
+var turn_input = 0
+var pitch_input = 0
+var best_goal_distance := 10000.0
+var transform_backup = null
+
+
+func _ready():
+ ai_controller.init(self)
+ transform_backup = transform
+
+
+func game_over():
+ cur_goal = environment.get_next_goal(null)
+ transform_backup = transform_backup
+ position.x = 0 + randf_range(-2, 2)
+ position.y = 27 + randf_range(-2, 2)
+ position.z = 0 + randf_range(-2, 2)
+ velocity = Vector3.ZERO
+ rotation = Vector3.ZERO
+ found_goal = false
+ exited_arena = false
+ best_goal_distance = to_local(cur_goal.position).length()
+ ai_controller.reset()
+
+
+func update_reward():
+ ai_controller.reward -= 0.01 # step penalty
+ ai_controller.reward += shaping_reward()
+
+
+func shaping_reward():
+ var s_reward = 0.0
+ var goal_distance = to_local(cur_goal.position).length()
+ if goal_distance < best_goal_distance:
+ s_reward += best_goal_distance - goal_distance
+ best_goal_distance = goal_distance
+
+ s_reward /= 1.0
+ return s_reward
+
+
+func set_heuristic(heuristic):
+ self._heuristic = heuristic
+
+
+func _physics_process(delta):
+ if ai_controller.needs_reset:
+ game_over()
+ return
+
+ if cur_goal == null:
+ game_over()
+ set_input()
+ if Input.is_action_just_pressed("r_key"):
+ game_over()
+ # Rotate the transform based checked the input values
+ transform.basis = transform.basis.rotated(
+ transform.basis.x.normalized(), pitch_input * pitch_speed * delta
+ )
+ transform.basis = transform.basis.rotated(Vector3.UP, turn_input * turn_speed * delta)
+ $PlaneModel.rotation.z = lerp($PlaneModel.rotation.z, -float(turn_input), level_speed * delta)
+ $PlaneModel.rotation.x = lerp($PlaneModel.rotation.x, -float(pitch_input), level_speed * delta)
+
+ # Movement is always forward
+ velocity = -transform.basis.z.normalized() * max_flight_speed
+ # Handle landing/taking unchecked
+ set_velocity(velocity)
+ set_up_direction(Vector3.UP)
+ move_and_slide()
+ update_reward()
+
+
+func set_input():
+ if ai_controller.heuristic == "model":
+ return
+ else:
+ turn_input = (
+ Input.get_action_strength("roll_left") - Input.get_action_strength("roll_right")
+ )
+ pitch_input = (
+ Input.get_action_strength("pitch_up") - Input.get_action_strength("pitch_down")
+ )
+
+
+func goal_reached(goal):
+ if goal == cur_goal:
+ ai_controller.reward += 100.0
+ cur_goal = environment.get_next_goal(cur_goal)
+
+
+func exited_game_area():
+ ai_controller.done = true
+ ai_controller.reward -= 10.0
+ exited_arena = true
+ game_over()
diff --git a/Plane.tscn b/Plane.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..4de34d72e5e853e0df2deb201bdeb9e00b095bd5
--- /dev/null
+++ b/Plane.tscn
@@ -0,0 +1,28 @@
+[gd_scene load_steps=5 format=3 uid="uid://3xxv82w5v8bo"]
+
+[ext_resource type="Script" path="res://Plane.gd" id="2"]
+[ext_resource type="PackedScene" uid="uid://bo7tjnr5viqq" path="res://cartoon_plane/scene.gltf" id="2_0hy0d"]
+[ext_resource type="Script" path="res://AIController3D.gd" id="3_y1d1w"]
+
+[sub_resource type="CylinderShape3D" id="27"]
+height = 7.77792
+
+[node name="Plane" type="CharacterBody3D"]
+collision_mask = 2
+script = ExtResource("2")
+turn_speed = 2.0
+level_speed = 2.0
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, -0.00176279, -0.999998, 0, 0.999998, -0.00176279, 0, -0.43198, 0.299141)
+shape = SubResource("27")
+
+[node name="PlaneModel" parent="." instance=ExtResource("2_0hy0d")]
+transform = Transform3D(-0.01, 0, -8.74228e-10, 0, 0.01, 0, 8.74228e-10, 0, -0.01, 0, 0, 0)
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 21.4392)
+
+[node name="AIController3D" type="Node3D" parent="." groups=["AGENT"]]
+script = ExtResource("3_y1d1w")
+reset_after = 200000
diff --git a/PlaneModel.gd b/PlaneModel.gd
new file mode 100644
index 0000000000000000000000000000000000000000..b42b800dbffa58cf3ed335c9ada7784b82036174
--- /dev/null
+++ b/PlaneModel.gd
@@ -0,0 +1,9 @@
+extends Node3D
+
+
+@onready var anim = $AnimationPlayer
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+ get_node("AnimationPlayer").get_animation("Main")#.set_loop(true)
+ anim.play("Main")
diff --git a/PlaneModel.tscn b/PlaneModel.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..dad0c5dfe43709b3b455f8be02ae9695b04fb374
--- /dev/null
+++ b/PlaneModel.tscn
@@ -0,0 +1,19 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://cartoon_plane/scene.gltf" type="PackedScene" id=1]
+
+[node name="PlaneModel" instance=ExtResource( 1 )]
+transform = Transform3D( 0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01, 0, 0, 0 )
+
+[node name="RootNode (gltf orientation matrix)" parent="." index="0"]
+transform = Transform3D( -1, 8.74228e-08, 3.82137e-15, 0, -4.37114e-08, 1, 8.74228e-08, 1, 4.37114e-08, 0, 0, 0 )
+
+[node name="Propeller_1" parent="RootNode (gltf orientation matrix)/RootNode (model correction matrix)/12cc6a9ff2ae45b08826ba235d9cb8b7fbx/Node/RootNode" index="0"]
+transform = Transform3D( -0.791092, -0.611698, 0, 0.611698, -0.791092, 0, 0, 0, 1, 0.873349, -46.0248, 401.434 )
+
+[node name="Physical_Sky" parent="RootNode (gltf orientation matrix)/RootNode (model correction matrix)/12cc6a9ff2ae45b08826ba235d9cb8b7fbx/Node/RootNode" index="1"]
+transform = Transform3D( 0.879922, 0.00248785, -0.475112, 0.0222404, 0.998674, 0.0464192, 0.474598, -0.051412, 0.8787, 0, 0, 0 )
+visible = false
+
+[node name="Shadow_Plane" parent="RootNode (gltf orientation matrix)/RootNode (model correction matrix)/12cc6a9ff2ae45b08826ba235d9cb8b7fbx/Node/RootNode/Physical_Sky" index="1"]
+visible = false
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..9dfa4eb4b81f5aa01f42a15d61c8808db7725243
--- /dev/null
+++ b/README.md
@@ -0,0 +1,25 @@
+---
+library_name: godot-rl
+tags:
+- deep-reinforcement-learning
+- reinforcement-learning
+- godot-rl
+- environments
+- video-games
+---
+
+A RL environment called FlyBy 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_FlyBy
+```
+
+
+
diff --git a/addons/godot_rl_agents/controller/ai_controller_2d.gd b/addons/godot_rl_agents/controller/ai_controller_2d.gd
new file mode 100644
index 0000000000000000000000000000000000000000..0f3b67c3141078f5fbbe0a271a1d076179783415
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/controller/ai_controller_3d.gd b/addons/godot_rl_agents/controller/ai_controller_3d.gd
new file mode 100644
index 0000000000000000000000000000000000000000..089d63ceaf9ff1f37f6f6f4fff5e84451a5a4545
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/godot_rl_agents.gd b/addons/godot_rl_agents/godot_rl_agents.gd
new file mode 100644
index 0000000000000000000000000000000000000000..e4fe13693a598c808aca1b64051d1c0c70783296
--- /dev/null
+++ b/addons/godot_rl_agents/godot_rl_agents.gd
@@ -0,0 +1,16 @@
+@tool
+extends EditorPlugin
+
+
+func _enter_tree():
+ # Initialization of the plugin goes here.
+ # Add the new type with a name, a parent type, a script and an icon.
+ add_custom_type("Sync", "Node", preload("sync.gd"), preload("icon.png"))
+ #add_custom_type("RaycastSensor2D2", "Node", preload("raycast_sensor_2d.gd"), preload("icon.png"))
+
+
+func _exit_tree():
+ # Clean-up of the plugin goes here.
+ # Always remember to remove it from the engine when deactivated.
+ remove_custom_type("Sync")
+ #remove_custom_type("RaycastSensor2D2")
diff --git a/addons/godot_rl_agents/icon.png b/addons/godot_rl_agents/icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccb4ca000e3e1cf659fe367ab5bff67c1eb3467d
--- /dev/null
+++ b/addons/godot_rl_agents/icon.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a8bc372d3313ce1ede4e7554472e37b322178b9488bfb709e296585abd3c44
+size 198
diff --git a/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs
new file mode 100644
index 0000000000000000000000000000000000000000..0741f0f263f34fffc44993e2b11a7544b0384ca1
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs
@@ -0,0 +1,103 @@
+using Godot;
+using Microsoft.ML.OnnxRuntime;
+using Microsoft.ML.OnnxRuntime.Tensors;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace GodotONNX
+{
+ ///
+ public partial class ONNXInference : GodotObject
+ {
+
+ private InferenceSession session;
+ ///
+ /// Path to the ONNX model. Use Initialize to change it.
+ ///
+ private string modelPath;
+ private int batchSize;
+
+ private SessionOptions SessionOpt;
+
+ //init function
+ ///
+ public void Initialize(string Path, int BatchSize)
+ {
+ modelPath = Path;
+ batchSize = BatchSize;
+ SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+ session = LoadModel(modelPath);
+
+ }
+ ///
+ public Godot.Collections.Dictionary> RunInference(Godot.Collections.Array obs, int state_ins)
+ {
+ //Current model: Any (Godot Rl Agents)
+ //Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
+
+ //Fill the input tensors
+ // create span from inputSize
+ var span = new float[obs.Count]; //There's probably a better way to do this
+ for (int i = 0; i < obs.Count; i++)
+ {
+ span[i] = obs[i];
+ }
+
+ IReadOnlyCollection inputs = new List
+ {
+ NamedOnnxValue.CreateFromTensor("obs", new DenseTensor(span, new int[] { batchSize, obs.Count })),
+ NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor(new float[] { state_ins }, new int[] { batchSize }))
+ };
+ IReadOnlyCollection outputNames = new List { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
+
+ IDisposableReadOnlyCollection results;
+ //We do not use "using" here so we get a better exception explaination later
+ try
+ {
+ results = session.Run(inputs, outputNames);
+ }
+ catch (OnnxRuntimeException e)
+ {
+ //This error usually means that the model is not compatible with the input, beacause of the input shape (size)
+ GD.Print("Error at inference: ", e);
+ return null;
+ }
+ //Can't convert IEnumerable to Variant, so we have to convert it to an array or something
+ Godot.Collections.Dictionary> output = new Godot.Collections.Dictionary>();
+ DisposableNamedOnnxValue output1 = results.First();
+ DisposableNamedOnnxValue output2 = results.Last();
+ Godot.Collections.Array output1Array = new Godot.Collections.Array();
+ Godot.Collections.Array output2Array = new Godot.Collections.Array();
+
+ foreach (float f in output1.AsEnumerable())
+ {
+ output1Array.Add(f);
+ }
+
+ foreach (float f in output2.AsEnumerable())
+ {
+ output2Array.Add(f);
+ }
+
+ output.Add(output1.Name, output1Array);
+ output.Add(output2.Name, output2Array);
+
+ //Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
+ results.Dispose();
+ return output;
+ }
+ ///
+ public InferenceSession LoadModel(string Path)
+ {
+ using Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
+ byte[] model = file.GetBuffer((int)file.GetLength());
+ //file.Close(); file.Dispose(); //Close the file, then dispose the reference.
+ return new InferenceSession(model, SessionOpt); //Load the model
+ }
+ public void FreeDisposables()
+ {
+ session.Dispose();
+ SessionOpt.Dispose();
+ }
+ }
+}
diff --git a/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs
new file mode 100644
index 0000000000000000000000000000000000000000..ad7a41cfee0dc3d497d9c1d03bd0752b09d49f3a
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs
@@ -0,0 +1,131 @@
+using Godot;
+using Microsoft.ML.OnnxRuntime;
+
+namespace GodotONNX
+{
+ ///
+
+ public static class SessionConfigurator
+ {
+ public enum ComputeName
+ {
+ CUDA,
+ ROCm,
+ DirectML,
+ CoreML,
+ CPU
+ }
+
+ ///
+ public static SessionOptions MakeConfiguredSessionOptions()
+ {
+ SessionOptions sessionOptions = new();
+ SetOptions(sessionOptions);
+ return sessionOptions;
+ }
+
+ private static void SetOptions(SessionOptions sessionOptions)
+ {
+ sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
+ ApplySystemSpecificOptions(sessionOptions);
+ }
+
+ ///
+ static public void ApplySystemSpecificOptions(SessionOptions sessionOptions)
+ {
+ //Most code for this function is verbose only, the only reason it exists is to track
+ //implementation progress of the different compute APIs.
+
+ //December 2022: CUDA is not working.
+
+ string OSName = OS.GetName(); //Get OS Name
+
+ //ComputeName ComputeAPI = ComputeCheck(); //Get Compute API
+ // //TODO: Get CPU architecture
+
+ //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++)
+ //Windows can use OpenVINO (C#) on x64
+ //TODO: try TensorRT instead of CUDA
+ //TODO: Use OpenVINO for Intel Graphics
+
+ // Temporarily using CPU on all platforms to avoid errors detected with DML
+ ComputeName ComputeAPI = ComputeName.CPU;
+
+ //match OS and Compute API
+ GD.Print($"OS: {OSName} Compute API: {ComputeAPI}");
+
+ // CPU is set by default without appending necessary
+ // sessionOptions.AppendExecutionProvider_CPU(0);
+
+ /*
+ switch (OSName)
+ {
+ case "Windows": //Can use CUDA, DirectML
+ if (ComputeAPI is ComputeName.CUDA)
+ {
+ //CUDA
+ //sessionOptions.AppendExecutionProvider_CUDA(0);
+ //sessionOptions.AppendExecutionProvider_DML(0);
+ }
+ else if (ComputeAPI is ComputeName.DirectML)
+ {
+ //DirectML
+ //sessionOptions.AppendExecutionProvider_DML(0);
+ }
+ break;
+ case "X11": //Can use CUDA, ROCm
+ if (ComputeAPI is ComputeName.CUDA)
+ {
+ //CUDA
+ //sessionOptions.AppendExecutionProvider_CUDA(0);
+ }
+ if (ComputeAPI is ComputeName.ROCm)
+ {
+ //ROCm, only works on x86
+ //Research indicates that this has to be compiled as a GDNative plugin
+ //GD.Print("ROCm not supported yet, using CPU.");
+ //sessionOptions.AppendExecutionProvider_CPU(0);
+ }
+ break;
+ case "macOS": //Can use CoreML
+ if (ComputeAPI is ComputeName.CoreML)
+ { //CoreML
+ //TODO: Needs testing
+ //sessionOptions.AppendExecutionProvider_CoreML(0);
+ //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub
+ }
+ break;
+ default:
+ GD.Print("OS not Supported.");
+ break;
+ }
+ */
+ }
+
+
+ ///
+ public static ComputeName ComputeCheck()
+ {
+ string adapterName = Godot.RenderingServer.GetVideoAdapterName();
+ //string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor();
+ adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo(""));
+ //TODO: GPU vendors for MacOS, what do they even use these days?
+
+ if (adapterName.Contains("INTEL"))
+ {
+ return ComputeName.DirectML;
+ }
+ if (adapterName.Contains("AMD") || adapterName.Contains("RADEON"))
+ {
+ return ComputeName.DirectML;
+ }
+ if (adapterName.Contains("NVIDIA"))
+ {
+ return ComputeName.CUDA;
+ }
+
+ GD.Print("Graphics Card not recognized."); //Should use CPU
+ return ComputeName.CPU;
+ }
+ }
+}
diff --git a/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml
new file mode 100644
index 0000000000000000000000000000000000000000..91b07d607dc89f11e957e13758d8c0ee4fb72be8
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml
@@ -0,0 +1,31 @@
+
+
+
+
+ The main ONNXInference Class that handles the inference process.
+
+
+
+
+ Starts the inference process.
+
+ Path to the ONNX model, expects a path inside resources.
+ How many observations will the model recieve.
+
+
+
+ Runs the given input through the model and returns the output.
+
+ Dictionary containing all observations.
+ How many different agents are creating these observations.
+ A Dictionary of arrays, containing instructions based on the observations.
+
+
+
+ Loads the given model into the inference process, using the best Execution provider available.
+
+ Path to the ONNX model, expects a path inside resources.
+ InferenceSession ready to run.
+
+
+
\ No newline at end of file
diff --git a/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f160c02f0d4cab92e10f799b6f4c5a71d4d6c0f2
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml
@@ -0,0 +1,29 @@
+
+
+
+
+ The main SessionConfigurator Class that handles the execution options and providers for the inference process.
+
+
+
+
+ Creates a SessionOptions with all available execution providers.
+
+ SessionOptions with all available execution providers.
+
+
+
+ Appends any execution provider available in the current system.
+
+
+ This function is mainly verbose for tracking implementation progress of different compute APIs.
+
+
+
+
+ Checks for available GPUs.
+
+ An integer identifier for each compute platform.
+
+
+
\ No newline at end of file
diff --git a/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd
new file mode 100644
index 0000000000000000000000000000000000000000..d573582b995a2b8fe05553f7cf58fb2e3b58d482
--- /dev/null
+++ b/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()
diff --git a/addons/godot_rl_agents/plugin.cfg b/addons/godot_rl_agents/plugin.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..b1bc988c80e3fe68e6d4279691fd5892e5ef323d
--- /dev/null
+++ b/addons/godot_rl_agents/plugin.cfg
@@ -0,0 +1,7 @@
+[plugin]
+
+name="GodotRLAgents"
+description="Custom nodes for the godot rl agents toolkit "
+author="Edward Beeching"
+version="0.1"
+script="godot_rl_agents.gd"
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..5edb6c7fc9da56e625d57185bdbafdbcc3fc67c5
--- /dev/null
+++ b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn
@@ -0,0 +1,48 @@
+[gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+
+[sub_resource type="GDScript" id="2"]
+script/source = "extends Node2D
+
+
+
+func _physics_process(delta: float) -> void:
+ print(\"step start\")
+
+"
+
+[sub_resource type="GDScript" id="1"]
+script/source = "extends RayCast2D
+
+var steps = 1
+
+func _physics_process(delta: float) -> void:
+ print(\"processing raycast\")
+ steps += 1
+ if steps % 2:
+ force_raycast_update()
+
+ print(is_colliding())
+"
+
+[sub_resource type="CircleShape2D" id="3"]
+
+[node name="ExampleRaycastSensor2D" type="Node2D"]
+script = SubResource("2")
+
+[node name="ExampleAgent" type="Node2D" parent="."]
+position = Vector2(573, 314)
+rotation = 0.286234
+
+[node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"]
+script = ExtResource("1")
+
+[node name="TestRayCast2D" type="RayCast2D" parent="."]
+script = SubResource("1")
+
+[node name="StaticBody2D" type="StaticBody2D" parent="."]
+position = Vector2(1, 52)
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
+shape = SubResource("3")
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..da170ba93919a8f28510ea8fc1ab876fe5876d34
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..67669a1d71a3e37d780b396633951d7d1ac79edb
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..9bb54ede90a6f6ffd5e65d89bf1bd561bc0832ed
--- /dev/null
+++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd
@@ -0,0 +1,118 @@
+@tool
+extends ISensor2D
+class_name RaycastSensor2D
+
+@export_flags_2d_physics var collision_mask := 1:
+ get:
+ return collision_mask
+ set(value):
+ collision_mask = value
+ _update()
+
+@export var collide_with_areas := false:
+ get:
+ return collide_with_areas
+ set(value):
+ collide_with_areas = value
+ _update()
+
+@export var collide_with_bodies := true:
+ get:
+ return collide_with_bodies
+ set(value):
+ collide_with_bodies = value
+ _update()
+
+@export var n_rays := 16.0:
+ get:
+ return n_rays
+ set(value):
+ n_rays = value
+ _update()
+
+@export_range(5, 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
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..5ca402c08305efedbfc6afd0a1893a0ca2e11cfd
--- /dev/null
+++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn
@@ -0,0 +1,7 @@
+[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+
+[node name="RaycastSensor2D" type="Node2D"]
+script = ExtResource("1")
+n_rays = 17.0
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..a8057c7619cbb835709d2704074b0d5ebfa00a0c
--- /dev/null
+++ b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn
@@ -0,0 +1,6 @@
+[gd_scene format=3 uid="uid://biu787qh4woik"]
+
+[node name="ExampleRaycastSensor3D" type="Node3D"]
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.804183, 0, 2.70146)
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..03593cc04d74ce0d0f16a4518e59b9309a09a5a7
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..aca3c2db480c5f61058d565ae4652916af4c51ad
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..1037e970c3dccd26c6b987533115d12fca790549
--- /dev/null
+++ b/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]
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..052b5577db16ab7d25f5f473a539b3099f400db8
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..1357529f9232c3323316212cc84042bde1afb6f2
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..35f9796596b2fb79bfcfe31e3d3a9637d9008e55
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sync.gd b/addons/godot_rl_agents/sync.gd
new file mode 100644
index 0000000000000000000000000000000000000000..ed9cf0a9c0baf9a512bf1536b4f92544b29aa9e1
--- /dev/null
+++ b/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)
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+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x2d57051",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x2d57e97",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x1501354",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x23cb12d",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x23f1c5f",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x3b7974d",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x3b91f81",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0xe1995e",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f791b0b3",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0xe19c3e",
+ "native_offset" : "0x00000"
+ }
+
+ ]
+ },
+ {
+ "is_managed" : false,
+ "offset_free_hash" : "0x0",
+ "offset_rich_hash" : "0x0",
+ "crashed" : false,
+ "native_thread_id" : "0x7f96d1ffe700",
+ "thread_info_addr" : "0x7f96c0000b60",
+ "thread_name" : "Thread Pool I/O",
+ "ctx" : {
+ "IP" : "0x7f96f7a09aff",
+ "SP" : "0x7f96d1ffdc40",
+ "BP" : "0x1065c40"
+ },
+ "unmanaged_frames" : [
+ {
+ "is_managed" : "false",
+ "native_address" : "0xee21ab",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x106e389",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x106f45a",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x1078107",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0xef0675",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7c5b3c0",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7a09aff",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x1065467",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x106673b",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x1077a46",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7c4f609",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7a16293",
+ "native_offset" : "0x00000"
+ }
+
+ ]
+ },
+ {
+ "is_managed" : false,
+ "offset_free_hash" : "0x0",
+ "offset_rich_hash" : "0x0",
+ "crashed" : false,
+ "native_thread_id" : "0x7f96d3fff700",
+ "thread_info_addr" : "0x7f96cc000b60",
+ "thread_name" : "Finalizer",
+ "ctx" : {
+ "IP" : "0x7f96f7c593f4",
+ "SP" : "0x7f96d3ffeca0",
+ "BP" : "0x5ba8020"
+ },
+ "unmanaged_frames" : [
+ {
+ "is_managed" : "false",
+ "native_address" : "0xee21ab",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x106e389",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x106f45a",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x1078107",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0xef0675",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7c5b3c0",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7c593f4",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7c594e8",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0xfa9b80",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x1077a46",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7c4f609",
+ "native_offset" : "0x00000"
+ }
+,
+ {
+ "is_managed" : "false",
+ "native_address" : "0x7f96f7a16293",
+ "native_offset" : "0x00000"
+ }
+
+ ]
+ }
+ ]
+}
\ No newline at end of file
diff --git a/project.godot b/project.godot
new file mode 100644
index 0000000000000000000000000000000000000000..0d50fb063bebabac624036635bfc11d9cba66c2d
--- /dev/null
+++ b/project.godot
@@ -0,0 +1,69 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+; [section] ; section goes between []
+; param=value ; assign values to parameters
+
+config_version=5
+
+[application]
+
+config/name="FlyBy"
+run/main_scene="res://FlyBy.tscn"
+config/features=PackedStringArray("4.1", "C#")
+config/icon="res://icon.png"
+
+[dotnet]
+
+project/assembly_name="FlyBy"
+
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
+
+[input]
+
+throttle_up={
+"deadzone": 0.5,
+"events": []
+}
+throttle_down={
+"deadzone": 0.5,
+"events": []
+}
+pitch_up={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+pitch_down={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+roll_left={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+roll_right={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+r_key={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":82,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+
+[physics]
+
+common/enable_pause_aware_picking=true
+
+[rendering]
+
+quality/filters/use_fxaa=true
+environment/default_environment="res://default_env.tres"