diff --git a/.gitattributes b/.gitattributes
index 55cab133643a2a73e083373d2106533678d0edd5..174cdbebd49b0af9d27064f9fb88f92b4dfda7e4 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,58 +1,11 @@
-*.7z filter=lfs diff=lfs merge=lfs -text
-*.arrow filter=lfs diff=lfs merge=lfs -text
-*.bin filter=lfs diff=lfs merge=lfs -text
-*.bz2 filter=lfs diff=lfs merge=lfs -text
-*.ckpt filter=lfs diff=lfs merge=lfs -text
-*.ftz filter=lfs diff=lfs merge=lfs -text
-*.gz filter=lfs diff=lfs merge=lfs -text
-*.h5 filter=lfs diff=lfs merge=lfs -text
-*.joblib filter=lfs diff=lfs merge=lfs -text
-*.lfs.* filter=lfs diff=lfs merge=lfs -text
-*.lz4 filter=lfs diff=lfs merge=lfs -text
-*.mlmodel filter=lfs diff=lfs merge=lfs -text
-*.model filter=lfs diff=lfs merge=lfs -text
-*.msgpack filter=lfs diff=lfs merge=lfs -text
-*.npy filter=lfs diff=lfs merge=lfs -text
-*.npz filter=lfs diff=lfs merge=lfs -text
-*.onnx filter=lfs diff=lfs merge=lfs -text
-*.ot filter=lfs diff=lfs merge=lfs -text
-*.parquet filter=lfs diff=lfs merge=lfs -text
-*.pb filter=lfs diff=lfs merge=lfs -text
-*.pickle filter=lfs diff=lfs merge=lfs -text
-*.pkl filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.pth filter=lfs diff=lfs merge=lfs -text
-*.rar filter=lfs diff=lfs merge=lfs -text
-*.safetensors filter=lfs diff=lfs merge=lfs -text
-saved_model/**/* filter=lfs diff=lfs merge=lfs -text
-*.tar.* filter=lfs diff=lfs merge=lfs -text
-*.tar filter=lfs diff=lfs merge=lfs -text
-*.tflite filter=lfs diff=lfs merge=lfs -text
-*.tgz filter=lfs diff=lfs merge=lfs -text
-*.wasm filter=lfs diff=lfs merge=lfs -text
-*.xz filter=lfs diff=lfs merge=lfs -text
-*.zip filter=lfs diff=lfs merge=lfs -text
-*.zst filter=lfs diff=lfs merge=lfs -text
-*tfevents* filter=lfs diff=lfs merge=lfs -text
-# Audio files - uncompressed
-*.pcm filter=lfs diff=lfs merge=lfs -text
-*.sam filter=lfs diff=lfs merge=lfs -text
-*.raw filter=lfs diff=lfs merge=lfs -text
-# Audio files - compressed
-*.aac filter=lfs diff=lfs merge=lfs -text
-*.flac filter=lfs diff=lfs merge=lfs -text
-*.mp3 filter=lfs diff=lfs merge=lfs -text
-*.ogg filter=lfs diff=lfs merge=lfs -text
-*.wav filter=lfs diff=lfs merge=lfs -text
-# Image files - uncompressed
-*.bmp filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.tiff filter=lfs diff=lfs merge=lfs -text
-# Image files - compressed
-*.jpg filter=lfs diff=lfs merge=lfs -text
-*.jpeg filter=lfs diff=lfs merge=lfs -text
-*.webp filter=lfs diff=lfs merge=lfs -text
-# Video files - compressed
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
+# Normalize EOL for all files that Git considers text files.
+* text=auto eol=lf
+Ships.onnx filter=lfs diff=lfs merge=lfs -text
+addons/godot_rl_agents/icon.png filter=lfs diff=lfs merge=lfs -text
+assets/bar_green.png filter=lfs diff=lfs merge=lfs -text
+assets/bar_red.png filter=lfs diff=lfs merge=lfs -text
+assets/bar_yellow.png filter=lfs diff=lfs merge=lfs -text
+assets/boat_large.bin filter=lfs diff=lfs merge=lfs -text
+assets/chest.bin filter=lfs diff=lfs merge=lfs -text
+assets/ship_light.bin filter=lfs diff=lfs merge=lfs -text
+assets/sunflowers_puresky_2k.hdr filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..4709183670ac629a32ff7df40816c79c7c932daa
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+# Godot 4+ specific ignores
+.godot/
diff --git a/AIController3D.gd b/AIController3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..7fffbb147a58ee7f117eb8157ef06ee10b71bcdf
--- /dev/null
+++ b/AIController3D.gd
@@ -0,0 +1,61 @@
+extends AIController3D
+
+
+@onready var grid_sensor_3d = $GridSensor3D
+
+var fb_action : float = 0.0
+var turn_action : float = 0.0
+var _player_positions : = Deque.new()
+
+
+func _ready():
+ super._ready()
+ _player_positions.max_size = 80 # 10 steps with repeat of 8
+
+func get_obs() -> Dictionary:
+ var obs = grid_sensor_3d.get_observation()
+ return {"obs": obs}
+
+func get_reward() -> float:
+ return reward + keep_moving_reward()
+
+func keep_moving_reward() -> float:
+ var mean_position = Vector3.ZERO
+ for pos in _player_positions:
+ mean_position += pos
+ mean_position /= _player_positions.size()
+
+ var penalty = 0.0
+
+ for pos in _player_positions:
+ penalty += (pos-mean_position).length()
+
+ #prints("penalty", 0.01*(penalty / _player_positions.size()))
+
+ return 0.005*(penalty / _player_positions.size())
+
+func _physics_process(delta):
+ _player_positions.push_back(_player.position)
+
+func reset():
+ super.reset()
+ _player_positions.clear()
+ _player_positions.push_back(_player.position)
+
+
+
+func get_action_space() -> Dictionary:
+ return {
+ "fb" : {
+ "size": 1,
+ "action_type": "continuous"
+ },
+ "turn" : {
+ "size": 1,
+ "action_type": "continuous"
+ },
+ }
+
+func set_action(action) -> void:
+ fb_action = clamp(action["fb"][0], -1.0, 1.0)
+ turn_action = clamp(action["turn"][0], -1.0, 1.0)
diff --git a/GridSensor3DExample.csproj b/GridSensor3DExample.csproj
new file mode 100644
index 0000000000000000000000000000000000000000..d6e80431553b474825ae104f3d71f06c3dd56786
--- /dev/null
+++ b/GridSensor3DExample.csproj
@@ -0,0 +1,10 @@
+
+
+ net6.0
+ true
+ GodotRLAgents
+
+
+
+
+
\ No newline at end of file
diff --git a/GridSensor3DExample.sln b/GridSensor3DExample.sln
new file mode 100644
index 0000000000000000000000000000000000000000..d8b58a0e0a1f74a7eac7fa70bacfd017016f906f
--- /dev/null
+++ b/GridSensor3DExample.sln
@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33530.505
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Godot RL Agents", "Godot RL Agents.csproj", "{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|Any CPU = Debug|Any CPU
+ ExportDebug|Any CPU = ExportDebug|Any CPU
+ ExportRelease|Any CPU = ExportRelease|Any CPU
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/PathFollower.gd b/PathFollower.gd
new file mode 100644
index 0000000000000000000000000000000000000000..21318c7d577d8db8eba0d7047f3b5b194e728b4a
--- /dev/null
+++ b/PathFollower.gd
@@ -0,0 +1,8 @@
+extends PathFollow3D
+
+
+
+@export var speed:=0.3
+
+func _physics_process(delta):
+ progress_ratio += delta * speed
diff --git a/Player.gd b/Player.gd
new file mode 100644
index 0000000000000000000000000000000000000000..c1ef4e191311551b465bf82c6bc33979af605373
--- /dev/null
+++ b/Player.gd
@@ -0,0 +1,84 @@
+extends CharacterBody3D
+class_name Player
+
+signal reset_signal
+
+const SPEED := 30.0
+const JUMP_VELOCITY := 4.5
+const TURN_SENS := 2.0
+
+@onready var ai_controller_3d = $AIController3D
+@onready var health_bar = $HealthBar
+
+var score := 0
+var health := 3:
+ set(value):
+ health = value
+ health_bar.update_health(health)
+ if health == 0:
+ game_over()
+
+
+func _ready():
+ ai_controller_3d.init(self)
+
+func game_over():
+ ai_controller_3d.done = true
+ ai_controller_3d.needs_reset = true
+
+func _physics_process(delta):
+ if ai_controller_3d.needs_reset:
+ reset()
+ ai_controller_3d.reset()
+ return
+
+ var fb : float
+ var turn : float
+
+ if ai_controller_3d.heuristic == "human":
+ fb = Input.get_action_strength("move_backward") - Input.get_action_strength("move_forward")
+ turn = Input.get_action_strength("turn_left") - Input.get_action_strength("turn_right")
+ else:
+ fb = ai_controller_3d.fb_action
+ turn = ai_controller_3d.turn_action
+
+ fb = clamp(fb, -1.0, 0.5) # limit reverse speed
+ #prints(ai_controller_3d.reward, ai_controller_3d.done, fb)
+ rotation.y += deg_to_rad(turn*TURN_SENS)
+ var direction = (transform.basis * Vector3(0.0, 0, fb)) # .normalized()
+ if direction:
+ velocity.x = direction.x * SPEED
+ velocity.z = direction.z * SPEED
+ else:
+ velocity.x = move_toward(velocity.x, 0, SPEED)
+ velocity.z = move_toward(velocity.z, 0, SPEED)
+
+ var collided = move_and_slide()
+ if collided:
+ obstacle_hit()
+
+func reset():
+ position = Vector3.ZERO
+ health = 3
+ score = 0
+ reset_signal.emit()
+
+func chest_collected():
+ #print("chest collected")
+ score += 1
+ ai_controller_3d.reward += 1.0
+
+func mine_hit():
+ #print("mine hit")
+ score -= 1
+ health -= 1
+ ai_controller_3d.reward -= 1.0
+
+func obstacle_hit():
+ #print("obstacle hit")
+ pass
+ #ai_controller_3d.reward -= 0.01
+
+func _on_game_area_body_exited(body):
+ #print("left game area")
+ game_over()
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..b631d566244d204c7917e350adc2591316894de5
--- /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 Ships for the Godot Game Engine.
+
+This environment was created with: https://github.com/edbeeching/godot_rl_agents
+
+
+## Downloading the environment
+
+After installing Godot RL Agents, download the environment with:
+
+```
+gdrl.env_from_hub -r jtatman/godot_rl_Ships
+```
+
+
+
diff --git a/Ships.onnx b/Ships.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..6a4215c1a18e7fbd206756af5ef0bbad7149a304
--- /dev/null
+++ b/Ships.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99bdc5e53587e307d0e54c001a04becf09320283825fb6b140bec84a7107f2e5
+size 191953
diff --git a/UIBasicsEnvironment.tres b/UIBasicsEnvironment.tres
new file mode 100644
index 0000000000000000000000000000000000000000..758a24984da46c2df138c3356436f59bc5e0a9fe
--- /dev/null
+++ b/UIBasicsEnvironment.tres
@@ -0,0 +1,64 @@
+[gd_resource type="Environment" load_steps=8 format=3 uid="uid://bsg17rom7hmrb"]
+
+[sub_resource type="Shader" id="Shader_18b1f"]
+code = "// NOTE: Shader automatically converted from Godot Engine 4.0.alpha3's PanoramaSkyMaterial.
+shader_type sky;
+
+uniform sampler2D sky_texture : filter_linear;
+uniform sampler2D flow_texture : hint_normal;
+uniform sampler2D noise_texture;
+
+void sky() {
+ float noise = texture(noise_texture, SKY_COORDS).r;
+ float time = TIME * .1 + noise;
+
+ vec2 flow_vectors = (texture(flow_texture, SKY_COORDS).rg - .5) * 2.0;
+ float timer1 = fract(time);
+ float timer2 = fract(time + 0.5);
+ float mix_timer = min(fract(time), 1.0 - fract(time)) * 2.0;
+
+ vec4 color1 = texture(sky_texture, SKY_COORDS + flow_vectors * timer1 * .03);
+ vec4 color2 = texture(sky_texture, SKY_COORDS + flow_vectors * timer2 * .03);
+
+ vec4 final_color = mix(color2, color1, mix_timer);
+
+ COLOR = final_color.rgb;
+}"
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_edjfr"]
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_naxpu"]
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_a2b1s"]
+noise = SubResource("FastNoiseLite_naxpu")
+
+[sub_resource type="CompressedTexture2D" id="CompressedTexture2D_nda5t"]
+
+[sub_resource type="ShaderMaterial" id="ShaderMaterial_gaoht"]
+shader = SubResource("Shader_18b1f")
+shader_parameter/sky_texture = SubResource("CompressedTexture2D_nda5t")
+shader_parameter/flow_texture = SubResource("CompressedTexture2D_edjfr")
+shader_parameter/noise_texture = SubResource("NoiseTexture2D_a2b1s")
+
+[sub_resource type="Sky" id="Sky_xke1b"]
+sky_material = SubResource("ShaderMaterial_gaoht")
+
+[resource]
+background_mode = 2
+sky = SubResource("Sky_xke1b")
+ambient_light_source = 3
+reflected_light_source = 2
+tonemap_mode = 2
+tonemap_white = 1.2
+ssao_enabled = true
+ssao_light_affect = 0.3
+ssil_enabled = true
+glow_enabled = true
+glow_normalized = true
+glow_strength = 0.5
+glow_bloom = 0.04
+glow_blend_mode = 0
+volumetric_fog_density = 0.04
+volumetric_fog_albedo = Color(0.662745, 0.866667, 1, 1)
+volumetric_fog_emission = Color(0, 0.537255, 0.890196, 1)
+volumetric_fog_sky_affect = 0.8
diff --git a/WaterShader.tres b/WaterShader.tres
new file mode 100644
index 0000000000000000000000000000000000000000..07bf4a8b3c2779448c7c7d210de6d4e683e0a889
--- /dev/null
+++ b/WaterShader.tres
@@ -0,0 +1,561 @@
+[gd_resource type="VisualShader" load_steps=57 format=3 uid="uid://8su6ti3hlgpy"]
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_eslgf"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_u8qml"]
+
+[sub_resource type="VisualShaderNodeComment" id="VisualShaderNodeComment_1n6h4"]
+size = Vector2(1961.08, 947.632)
+title = "Detail Noise"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_7wfef"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_y60id"]
+input_name = "uv"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_pt86f"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_p2bsf"]
+parameter_name = "detail_water_speed"
+default_value_enabled = true
+default_value = 0.002
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_ml4ab"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_ql8q5"]
+noise_type = 2
+frequency = 0.75
+fractal_type = 0
+cellular_distance_function = 1
+cellular_jitter = 1.0
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_kb3i2"]
+seamless = true
+noise = SubResource("FastNoiseLite_ql8q5")
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_ngw8e"]
+texture = SubResource("NoiseTexture2D_kb3i2")
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_a6mhs"]
+parameter_name = "foam_threshold"
+default_value_enabled = true
+default_value = 0.5
+
+[sub_resource type="VisualShaderNodeStep" id="VisualShaderNodeStep_07sk8"]
+default_input_values = [0, 0.666, 1, 0.0]
+
+[sub_resource type="VisualShaderNodeMix" id="VisualShaderNodeMix_5gm3l"]
+default_input_values = [0, Quaternion(0, 0, 0, 0), 1, Quaternion(1, 1, 1, 1), 2, 0.5]
+op_type = 6
+
+[sub_resource type="VisualShaderNodeColorParameter" id="VisualShaderNodeColorParameter_amub1"]
+parameter_name = "water_color"
+default_value_enabled = true
+default_value = Color(0, 0.341783, 0.638043, 1)
+
+[sub_resource type="VisualShaderNodeColorParameter" id="VisualShaderNodeColorParameter_3evsr"]
+parameter_name = "foam_color"
+default_value_enabled = true
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_40p55"]
+constant = 0.6
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_lxkfi"]
+function = 31
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_ke10c"]
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_28lt2"]
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_0vuo8"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeUVFunc" id="VisualShaderNodeUVFunc_shc2h"]
+default_input_values = [1, Vector2(3, 3), 2, Vector2(0, 0)]
+
+[sub_resource type="VisualShaderNodeMix" id="VisualShaderNodeMix_s8e8r"]
+default_input_values = [0, Quaternion(0, 0, 0, 0), 1, Quaternion(1, 1, 1, 1), 2, Quaternion(0.5, 0.5, 0.5, 0.5)]
+op_type = 5
+
+[sub_resource type="VisualShaderNodeUVFunc" id="VisualShaderNodeUVFunc_ak4iq"]
+default_input_values = [1, Vector2(-3, -3), 2, Vector2(0, 0)]
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_3yjg7"]
+default_input_values = [0, 0.0, 1, 0.002]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_j2cca"]
+constant = 1.0
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_5gqkt"]
+constant = 0.6
+
+[sub_resource type="VisualShaderNodeMix" id="VisualShaderNodeMix_d4ulh"]
+default_input_values = [0, 0.94, 1, 1.0, 2, 0.5]
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_hfs2o"]
+default_input_values = [0, Quaternion(0, 0, 0, 0), 1, Quaternion(1, 1, 1, 1)]
+op_type = 2
+operator = 5
+
+[sub_resource type="VisualShaderNodeProximityFade" id="VisualShaderNodeProximityFade_n4hcr"]
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_07qnl"]
+default_input_values = [0, 0.0, 1, 48.0]
+operator = 5
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_thkes"]
+
+[sub_resource type="VisualShaderNodeMultiplyAdd" id="VisualShaderNodeMultiplyAdd_71wjw"]
+default_input_values = [0, 0.0, 1, 0.4, 2, 0.0]
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_e10nc"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_sxt31"]
+default_input_values = [0, 0.0, 1, 4.0]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_xo62c"]
+function = 0
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_drpvc"]
+function = 12
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_papeo"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_l6qxq"]
+input_name = "normal"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_bjwgk"]
+input_name = "vertex"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_u6vmt"]
+operator = 1
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_qt6m8"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeVectorDecompose" id="VisualShaderNodeVectorDecompose_qovlt"]
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_t2kaa"]
+parameter_name = "wave_scale"
+default_value_enabled = true
+default_value = 0.2
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_relvm"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatFunc" id="VisualShaderNodeFloatFunc_ub24v"]
+function = 12
+
+[sub_resource type="VisualShaderNodeComment" id="VisualShaderNodeComment_4o8y1"]
+size = Vector2(2029.8, 1308.18)
+title = "Scrolling Noise"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_gu7qa"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_k2mpj"]
+input_name = "uv"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_6vl07"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+
+[sub_resource type="VisualShaderNodeFloatParameter" id="VisualShaderNodeFloatParameter_a03y7"]
+parameter_name = "water_speed2"
+default_value_enabled = true
+default_value = 0.003
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_w7nrt"]
+default_input_values = [0, Vector2(0, 0), 1, Vector2(0, 0)]
+op_type = 0
+operator = 2
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_11yi2"]
+fractal_type = 3
+domain_warp_enabled = true
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_8rwkj"]
+seamless = true
+noise = SubResource("FastNoiseLite_11yi2")
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_5gkum"]
+source = 5
+texture = SubResource("NoiseTexture2D_8rwkj")
+
+[sub_resource type="VisualShaderNodeTexture2DParameter" id="VisualShaderNodeTexture2DParameter_mjb0g"]
+parameter_name = "main_noise2"
+
+[resource]
+code = "shader_type spatial;
+render_mode blend_mix, depth_draw_opaque, cull_back, diffuse_toon, specular_schlick_ggx;
+
+uniform float wave_scale = 0.20000000298023;
+uniform float water_speed2 = 0.00300000002608;
+uniform sampler2D main_noise2;
+uniform vec4 water_color : source_color = vec4(0.000000, 0.341783, 0.638043, 1.000000);
+uniform vec4 foam_color : source_color = vec4(1.000000, 1.000000, 1.000000, 1.000000);
+uniform float foam_threshold = 0.5;
+uniform float detail_water_speed = 0.00200000009499;
+uniform sampler2D tex_frg_36;
+uniform sampler2D depth_tex_frg_91 : hint_depth_texture;
+uniform sampler2D tex_frg_63;
+uniform sampler2D tex_frg_64;
+
+
+
+void vertex() {
+// FloatParameter:15
+ float n_out15p0 = wave_scale;
+
+
+// FloatParameter:6
+ float n_out6p0 = water_speed2;
+
+
+// Input:3
+ float n_out3p0 = TIME;
+
+
+// VectorOp:7
+ vec2 n_out7p0 = vec2(n_out6p0) * vec2(n_out3p0);
+
+
+// Input:4
+ vec2 n_out4p0 = UV;
+
+
+// VectorOp:5
+ vec2 n_out5p0 = n_out7p0 + n_out4p0;
+
+
+ vec4 n_out8p0;
+// Texture2D:8
+ n_out8p0 = texture(main_noise2, n_out5p0);
+
+
+// VectorDecompose:14
+ float n_out14p0 = vec3(n_out8p0.xyz).x;
+ float n_out14p1 = vec3(n_out8p0.xyz).y;
+ float n_out14p2 = vec3(n_out8p0.xyz).z;
+
+
+// FloatFunc:17
+ float n_out17p0 = abs(n_out14p0);
+
+
+// FloatOp:16
+ float n_out16p0 = n_out15p0 * n_out17p0;
+
+
+// Input:10
+ vec3 n_out10p0 = NORMAL;
+
+
+// VectorOp:13
+ vec3 n_out13p0 = vec3(n_out16p0) * n_out10p0;
+
+
+// Input:11
+ vec3 n_out11p0 = VERTEX;
+
+
+// VectorOp:12
+ vec3 n_out12p0 = n_out13p0 - n_out11p0;
+
+
+// Output:0
+ VERTEX = n_out12p0;
+
+
+}
+
+void fragment() {
+// ColorParameter:59
+ vec4 n_out59p0 = water_color;
+
+
+// ColorParameter:60
+ vec4 n_out60p0 = foam_color;
+
+
+// FloatParameter:39
+ float n_out39p0 = foam_threshold;
+
+
+// FloatParameter:34
+ float n_out34p0 = detail_water_speed;
+
+
+// Input:31
+ float n_out31p0 = TIME;
+
+
+// VectorOp:33
+ vec2 n_out33p0 = vec2(n_out34p0) * vec2(n_out31p0);
+
+
+// Input:32
+ vec2 n_out32p0 = UV;
+
+
+// VectorOp:35
+ vec2 n_out35p0 = n_out33p0 + n_out32p0;
+
+
+// Texture2D:36
+ vec4 n_out36p0 = texture(tex_frg_36, n_out35p0);
+
+
+ float n_out91p0;
+// ProximityFade:91
+ float n_in91p0 = 1.00000;
+ {
+ float __depth_tex = texture(depth_tex_frg_91, SCREEN_UV).r;
+ vec4 __depth_world_pos = INV_PROJECTION_MATRIX * vec4(SCREEN_UV * 2.0 - 1.0, __depth_tex, 1.0);
+ __depth_world_pos.xyz /= __depth_world_pos.w;
+ n_out91p0 = clamp(1.0 - smoothstep(__depth_world_pos.z + n_in91p0, __depth_world_pos.z, VERTEX.z), 0.0, 1.0);
+ }
+
+
+// FloatFunc:62
+ float n_out62p0 = 1.0 - n_out91p0;
+
+
+// FloatOp:100
+ float n_out100p0 = n_out36p0.x * n_out62p0;
+
+
+// Input:95
+ float n_out95p0 = TIME;
+
+
+// MultiplyAdd:94
+ float n_in94p1 = 0.40000;
+ float n_out94p0 = fma(n_out95p0, n_in94p1, n_out62p0);
+
+
+// FloatOp:96
+ float n_in96p1 = 4.00000;
+ float n_out96p0 = n_out94p0 * n_in96p1;
+
+
+// FloatFunc:97
+ float n_out97p0 = sin(n_out96p0);
+
+
+// FloatFunc:98
+ float n_out98p0 = abs(n_out97p0);
+
+
+// FloatOp:99
+ float n_out99p0 = n_out98p0 * n_out62p0;
+
+
+// FloatOp:92
+ float n_in92p1 = 48.00000;
+ float n_out92p0 = pow(n_out62p0, n_in92p1);
+
+
+// FloatOp:93
+ float n_out93p0 = n_out99p0 + n_out92p0;
+
+
+// FloatOp:101
+ float n_out101p0 = n_out100p0 + n_out93p0;
+
+
+// Step:55
+ float n_out55p0 = step(n_out39p0, n_out101p0);
+
+
+// Mix:56
+ vec4 n_out56p0 = mix(n_out59p0, n_out60p0, n_out55p0);
+
+
+// Mix:75
+ float n_in75p0 = 0.94000;
+ float n_in75p1 = 1.00000;
+ float n_out75p0 = mix(n_in75p0, n_in75p1, n_out55p0);
+
+
+// FloatConstant:61
+ float n_out61p0 = 0.600000;
+
+
+// FloatConstant:74
+ float n_out74p0 = 0.600000;
+
+
+// FloatConstant:72
+ float n_out72p0 = 1.000000;
+
+
+// Input:66
+ float n_out66p0 = TIME;
+
+
+// FloatOp:71
+ float n_in71p1 = 0.00200;
+ float n_out71p0 = n_out66p0 * n_in71p1;
+
+
+// UVFunc:70
+ vec2 n_in70p1 = vec2(-3.00000, -3.00000);
+ vec2 n_out70p0 = vec2(n_out71p0) * n_in70p1 + UV;
+
+
+// Texture2D:63
+ vec4 n_out63p0 = texture(tex_frg_63, n_out70p0);
+
+
+// UVFunc:68
+ vec2 n_in68p1 = vec2(3.00000, 3.00000);
+ vec2 n_out68p0 = vec2(n_out71p0) * n_in68p1 + UV;
+
+
+// Texture2D:64
+ vec4 n_out64p0 = texture(tex_frg_64, n_out68p0);
+
+
+// Mix:69
+ vec4 n_in69p2 = vec4(0.50000, 0.50000, 0.50000, 0.50000);
+ vec4 n_out69p0 = mix(n_out63p0, n_out64p0, n_in69p2);
+
+
+// VectorOp:90
+ vec4 n_in90p1 = vec4(1.00000, 1.00000, 1.00000, 1.00000);
+ vec4 n_out90p0 = pow(n_out69p0, n_in90p1);
+
+
+// Output:0
+ ALBEDO = vec3(n_out56p0.xyz);
+ ALPHA = n_out75p0;
+ METALLIC = n_out61p0;
+ ROUGHNESS = n_out74p0;
+ SPECULAR = n_out72p0;
+ NORMAL_MAP = vec3(n_out90p0.xyz);
+
+
+}
+"
+graph_offset = Vector2(1284.03, -340.084)
+modes/diffuse = 3
+nodes/vertex/0/position = Vector2(6740, -20)
+nodes/vertex/2/node = SubResource("VisualShaderNodeComment_4o8y1")
+nodes/vertex/2/position = Vector2(1924.58, -428.571)
+nodes/vertex/3/node = SubResource("VisualShaderNodeInput_gu7qa")
+nodes/vertex/3/position = Vector2(2004.58, 131.429)
+nodes/vertex/4/node = SubResource("VisualShaderNodeInput_k2mpj")
+nodes/vertex/4/position = Vector2(1964.58, 291.429)
+nodes/vertex/5/node = SubResource("VisualShaderNodeVectorOp_6vl07")
+nodes/vertex/5/position = Vector2(3124.58, -148.571)
+nodes/vertex/6/node = SubResource("VisualShaderNodeFloatParameter_a03y7")
+nodes/vertex/6/position = Vector2(2004.58, -308.571)
+nodes/vertex/7/node = SubResource("VisualShaderNodeVectorOp_w7nrt")
+nodes/vertex/7/position = Vector2(2764.58, -308.571)
+nodes/vertex/8/node = SubResource("VisualShaderNodeTexture_5gkum")
+nodes/vertex/8/position = Vector2(3504.58, -148.571)
+nodes/vertex/9/node = SubResource("VisualShaderNodeTexture2DParameter_mjb0g")
+nodes/vertex/9/position = Vector2(2824.58, 351.429)
+nodes/vertex/10/node = SubResource("VisualShaderNodeInput_l6qxq")
+nodes/vertex/10/position = Vector2(4060, 200)
+nodes/vertex/11/node = SubResource("VisualShaderNodeInput_bjwgk")
+nodes/vertex/11/position = Vector2(4040, 540)
+nodes/vertex/12/node = SubResource("VisualShaderNodeVectorOp_u6vmt")
+nodes/vertex/12/position = Vector2(6080, -40)
+nodes/vertex/13/node = SubResource("VisualShaderNodeVectorOp_qt6m8")
+nodes/vertex/13/position = Vector2(5760, -400)
+nodes/vertex/14/node = SubResource("VisualShaderNodeVectorDecompose_qovlt")
+nodes/vertex/14/position = Vector2(4180, -400)
+nodes/vertex/15/node = SubResource("VisualShaderNodeFloatParameter_t2kaa")
+nodes/vertex/15/position = Vector2(3980, -900)
+nodes/vertex/16/node = SubResource("VisualShaderNodeFloatOp_relvm")
+nodes/vertex/16/position = Vector2(5340, -620)
+nodes/vertex/17/node = SubResource("VisualShaderNodeFloatFunc_ub24v")
+nodes/vertex/17/position = Vector2(4680, -400)
+nodes/vertex/connections = PackedInt32Array(5, 0, 8, 0, 4, 0, 5, 1, 6, 0, 7, 0, 3, 0, 7, 1, 7, 0, 5, 0, 9, 0, 8, 2, 10, 0, 13, 1, 13, 0, 12, 0, 11, 0, 12, 1, 12, 0, 0, 0, 8, 0, 14, 0, 15, 0, 16, 0, 16, 0, 13, 0, 14, 0, 17, 0, 17, 0, 16, 1)
+nodes/fragment/0/position = Vector2(9060, -1560)
+nodes/fragment/30/node = SubResource("VisualShaderNodeComment_1n6h4")
+nodes/fragment/30/position = Vector2(780, -2960)
+nodes/fragment/31/node = SubResource("VisualShaderNodeInput_7wfef")
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+nodes/fragment/32/node = SubResource("VisualShaderNodeInput_y60id")
+nodes/fragment/32/position = Vector2(820, -2240)
+nodes/fragment/33/node = SubResource("VisualShaderNodeVectorOp_pt86f")
+nodes/fragment/33/position = Vector2(1620, -2840)
+nodes/fragment/34/node = SubResource("VisualShaderNodeFloatParameter_p2bsf")
+nodes/fragment/34/position = Vector2(940, -2860)
+nodes/fragment/35/node = SubResource("VisualShaderNodeVectorOp_ml4ab")
+nodes/fragment/35/position = Vector2(1980, -2680)
+nodes/fragment/36/node = SubResource("VisualShaderNodeTexture_ngw8e")
+nodes/fragment/36/position = Vector2(2300, -2640)
+nodes/fragment/39/node = SubResource("VisualShaderNodeFloatParameter_a6mhs")
+nodes/fragment/39/position = Vector2(5040, -2920)
+nodes/fragment/55/node = SubResource("VisualShaderNodeStep_07sk8")
+nodes/fragment/55/position = Vector2(5820, -2560)
+nodes/fragment/56/node = SubResource("VisualShaderNodeMix_5gm3l")
+nodes/fragment/56/position = Vector2(6780, -2740)
+nodes/fragment/59/node = SubResource("VisualShaderNodeColorParameter_amub1")
+nodes/fragment/59/position = Vector2(5960, -3440)
+nodes/fragment/60/node = SubResource("VisualShaderNodeColorParameter_3evsr")
+nodes/fragment/60/position = Vector2(6040, -3000)
+nodes/fragment/61/node = SubResource("VisualShaderNodeFloatConstant_40p55")
+nodes/fragment/61/position = Vector2(6940, -1700)
+nodes/fragment/62/node = SubResource("VisualShaderNodeFloatFunc_lxkfi")
+nodes/fragment/62/position = Vector2(2420, -1320)
+nodes/fragment/63/node = SubResource("VisualShaderNodeTexture_ke10c")
+nodes/fragment/63/position = Vector2(7260, -980)
+nodes/fragment/64/node = SubResource("VisualShaderNodeTexture_28lt2")
+nodes/fragment/64/position = Vector2(7320, -320)
+nodes/fragment/66/node = SubResource("VisualShaderNodeInput_0vuo8")
+nodes/fragment/66/position = Vector2(5300, -700)
+nodes/fragment/68/node = SubResource("VisualShaderNodeUVFunc_shc2h")
+nodes/fragment/68/position = Vector2(6600, -120)
+nodes/fragment/69/node = SubResource("VisualShaderNodeMix_s8e8r")
+nodes/fragment/69/position = Vector2(7760, -640)
+nodes/fragment/70/node = SubResource("VisualShaderNodeUVFunc_ak4iq")
+nodes/fragment/70/position = Vector2(6580, -960)
+nodes/fragment/71/node = SubResource("VisualShaderNodeFloatOp_3yjg7")
+nodes/fragment/71/position = Vector2(6040, -500)
+nodes/fragment/72/node = SubResource("VisualShaderNodeFloatConstant_j2cca")
+nodes/fragment/72/position = Vector2(7100, -1340)
+nodes/fragment/74/node = SubResource("VisualShaderNodeFloatConstant_5gqkt")
+nodes/fragment/74/position = Vector2(6980, -1520)
+nodes/fragment/75/node = SubResource("VisualShaderNodeMix_d4ulh")
+nodes/fragment/75/position = Vector2(6940, -2400)
+nodes/fragment/90/node = SubResource("VisualShaderNodeVectorOp_hfs2o")
+nodes/fragment/90/position = Vector2(8320, -1120)
+nodes/fragment/91/node = SubResource("VisualShaderNodeProximityFade_n4hcr")
+nodes/fragment/91/position = Vector2(1820, -1240)
+nodes/fragment/92/node = SubResource("VisualShaderNodeFloatOp_07qnl")
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+nodes/fragment/93/node = SubResource("VisualShaderNodeFloatOp_thkes")
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+nodes/fragment/97/node = SubResource("VisualShaderNodeFloatFunc_xo62c")
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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)
diff --git a/assets/bar_green.png b/assets/bar_green.png
new file mode 100644
index 0000000000000000000000000000000000000000..184ba22934514df52d82e22730edf061a2bdf5b1
--- /dev/null
+++ b/assets/bar_green.png
@@ -0,0 +1,3 @@
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+oid sha256:586cb8b83a7523a4fa87d3c9b42d2286d45b7e8815a9d0f88f7f2223878eaf7b
+size 292
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new file mode 100644
index 0000000000000000000000000000000000000000..84da0406f9482eabc73a4f5c812911c0c48c5250
--- /dev/null
+++ b/assets/bar_red.png
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..74ec73803e6e20aeb80756e6e7629bf102050372
--- /dev/null
+++ b/assets/bar_yellow.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfe17845287f879b1e7bc0feadaabab77f4e65bae21eb52dec58e81f8665d0e4
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diff --git a/assets/boat_large.bin b/assets/boat_large.bin
new file mode 100644
index 0000000000000000000000000000000000000000..9c714b07ffa0aff5f43a7d9d55cc7b1604346753
--- /dev/null
+++ b/assets/boat_large.bin
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29c3e0cc6e37b33d252e21d5aa7506cdf6b736fd617bfa03ae06f71234aa9f01
+size 9210
diff --git a/assets/chest.bin b/assets/chest.bin
new file mode 100644
index 0000000000000000000000000000000000000000..2d79a42ca453ed39311555609000441f325b61b0
--- /dev/null
+++ b/assets/chest.bin
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb50255571a664695fe07a0f87b94a09577d81d12dbdcad4fd7c5fb60f6a54d4
+size 35460
diff --git a/assets/chest.gltf b/assets/chest.gltf
new file mode 100644
index 0000000000000000000000000000000000000000..6070a50cf31c2bb03a28ef1fb6e67d06792e214b
--- /dev/null
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+}
\ No newline at end of file
diff --git a/assets/sunflowers_puresky_2k.hdr b/assets/sunflowers_puresky_2k.hdr
new file mode 100644
index 0000000000000000000000000000000000000000..1ffe05f44f9d72e31a72f9e63f4cd50feea0a7d1
--- /dev/null
+++ b/assets/sunflowers_puresky_2k.hdr
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430861cb722951c1eeff3b3c5762e7e73a610fcffc4186b5d828c5e7557fe1b4
+size 5658712
diff --git a/chest.gd b/chest.gd
new file mode 100644
index 0000000000000000000000000000000000000000..527aeada908c21e86f6474fe9d77a43b5d69b219
--- /dev/null
+++ b/chest.gd
@@ -0,0 +1,22 @@
+extends MeshInstance3D
+@onready var area_3d = $Area3D
+
+func _on_area_3d_body_entered(body):
+ if body is Player:
+ body.chest_collected()
+ call_deferred("respawn")
+
+func respawn():
+ hide()
+ area_3d.set_monitoring(false)
+ area_3d.set_monitorable(false)
+ await get_tree().create_timer(10.0).timeout
+ area_3d.set_monitoring(true)
+ area_3d.set_monitorable(true)
+ show()
+
+func get_mesh_aabb() -> AABB:
+ var aabb = mesh.get_aabb()
+ aabb.position *= scale.x
+ aabb.size *= scale.x
+ return aabb
diff --git a/chest.tscn b/chest.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..eaadeb54516f6acdb4b36ea089c95c4e2fe22b08
--- /dev/null
+++ b/chest.tscn
@@ -0,0 +1,142 @@
+[gd_scene load_steps=9 format=3 uid="uid://dh6iu0ai4cp85"]
+
+[ext_resource type="Script" path="res://chest.gd" id="1_bycqm"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_5he25"]
+resource_name = "wood"
+vertex_color_use_as_albedo = true
+albedo_color = Color(0.870034, 0.710264, 0.564277, 1)
+metallic = 0.25
+roughness = 0.85
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_jtpny"]
+resource_name = "stone"
+vertex_color_use_as_albedo = true
+albedo_color = Color(0.788377, 0.846834, 0.884383, 1)
+metallic = 0.25
+roughness = 0.85
+
+[sub_resource type="ArrayMesh" id="ArrayMesh_4kl3r"]
+_surfaces = [{
+"aabb": AABB(-0.3575, -2.30236e-18, -0.318225, 0.71501, 0.518944, 0.633235),
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+"index_data": PackedByteArray(132, 0, 130, 0, 131, 0, 131, 0, 133, 0, 132, 0, 135, 0, 134, 0, 132, 0, 132, 0, 133, 0, 135, 0, 137, 0, 136, 0, 134, 0, 134, 0, 135, 0, 137, 0, 140, 0, 138, 0, 139, 0, 139, 0, 141, 0, 140, 0, 143, 0, 142, 0, 28, 0, 28, 0, 144, 0, 143, 0, 28, 0, 101, 0, 144, 0, 101, 0, 145, 0, 144, 0, 101, 0, 102, 0, 145, 0, 102, 0, 106, 0, 145, 0, 106, 0, 138, 0, 145, 0, 106, 0, 99, 0, 138, 0, 99, 0, 139, 0, 138, 0, 99, 0, 100, 0, 139, 0, 100, 0, 146, 0, 139, 0, 100, 0, 107, 0, 146, 0, 107, 0, 136, 0, 146, 0, 107, 0, 105, 0, 136, 0, 105, 0, 103, 0, 136, 0, 103, 0, 134, 0, 136, 0, 103, 0, 104, 0, 134, 0, 104, 0, 132, 0, 134, 0, 104, 0, 98, 0, 132, 0, 98, 0, 130, 0, 132, 0, 98, 0, 97, 0, 130, 0, 97, 0, 60, 0, 130, 0, 60, 0, 147, 0, 130, 0, 60, 0, 148, 0, 147, 0, 150, 0, 149, 0, 143, 0, 143, 0, 144, 0, 150, 0, 151, 0, 148, 0, 60, 0, 60, 0, 61, 0, 151, 0, 141, 0, 139, 0, 146, 0, 146, 0, 152, 0, 141, 0, 149, 0, 153, 0, 142, 0, 142, 0, 143, 0, 149, 0, 130, 0, 147, 0, 154, 0, 154, 0, 131, 0, 130, 0, 147, 0, 148, 0, 151, 0, 151, 0, 154, 0, 147, 0, 29, 0, 153, 0, 149, 0, 149, 0, 150, 0, 29, 0, 150, 0, 125, 0, 29, 0, 150, 0, 155, 0, 125, 0, 155, 0, 127, 0, 125, 0, 155, 0, 128, 0, 127, 0, 155, 0, 140, 0, 128, 0, 140, 0, 122, 0, 128, 0, 140, 0, 141, 0, 122, 0, 141, 0, 114, 0, 122, 0, 141, 0, 152, 0, 114, 0, 152, 0, 108, 0, 114, 0, 152, 0, 137, 0, 108, 0, 137, 0, 109, 0, 108, 0, 137, 0, 112, 0, 109, 0, 137, 0, 135, 0, 112, 0, 135, 0, 116, 0, 112, 0, 135, 0, 133, 0, 116, 0, 133, 0, 120, 0, 116, 0, 133, 0, 131, 0, 120, 0, 131, 0, 118, 0, 120, 0, 131, 0, 61, 0, 118, 0, 131, 0, 154, 0, 61, 0, 154, 0, 151, 0, 61, 0, 155, 0, 150, 0, 144, 0, 144, 0, 145, 0, 155, 0, 152, 0, 146, 0, 136, 0, 136, 0, 137, 0, 152, 0, 155, 0, 145, 0, 138, 0, 138, 0, 140, 0, 155, 0, 29, 0, 28, 0, 142, 0, 142, 0, 153, 0, 29, 0, 31, 0, 156, 0, 157, 0, 157, 0, 158, 0, 31, 0, 158, 0, 35, 0, 31, 0, 158, 0, 159, 0, 35, 0, 159, 0, 37, 0, 35, 0, 159, 0, 39, 0, 37, 0, 159, 0, 160, 0, 39, 0, 160, 0, 40, 0, 39, 0, 160, 0, 161, 0, 40, 0, 161, 0, 42, 0, 40, 0, 161, 0, 162, 0, 42, 0, 162, 0, 44, 0, 42, 0, 162, 0, 163, 0, 44, 0, 163, 0, 46, 0, 44, 0, 163, 0, 48, 0, 46, 0, 163, 0, 164, 0, 48, 0, 164, 0, 50, 0, 48, 0, 164, 0, 165, 0, 50, 0, 165, 0, 52, 0, 50, 0, 165, 0, 166, 0, 52, 0, 166, 0, 54, 0, 52, 0, 166, 0, 56, 0, 54, 0, 166, 0, 167, 0, 56, 0, 167, 0, 168, 0, 56, 0, 160, 0, 169, 0, 170, 0, 170, 0, 161, 0, 160, 0, 159, 0, 171, 0, 169, 0, 169, 0, 160, 0, 159, 0, 173, 0, 172, 0, 166, 0, 166, 0, 165, 0, 173, 0, 159, 0, 158, 0, 174, 0, 174, 0, 171, 0, 159, 0, 158, 0, 157, 0, 175, 0, 175, 0, 174, 0, 158, 0, 157, 0, 156, 0, 176, 0, 176, 0, 175, 0, 157, 0, 163, 0, 177, 0, 178, 0, 178, 0, 164, 0, 163, 0, 31, 0, 30, 0, 176, 0, 176, 0, 156, 0, 31, 0, 168, 0, 179, 0, 62, 0, 62, 0, 56, 0, 168, 0, 164, 0, 178, 0, 173, 0, 173, 0, 165, 0, 164, 0, 162, 0, 180, 0, 177, 0, 177, 0, 163, 0, 162, 0, 161, 0, 170, 0, 180, 0, 180, 0, 162, 0, 161, 0, 181, 0, 179, 0, 168, 0, 168, 0, 167, 0, 181, 0, 172, 0, 181, 0, 167, 0, 167, 0, 166, 0, 172, 0, 175, 0, 176, 0, 30, 0, 30, 0, 174, 0, 175, 0, 30, 0, 124, 0, 174, 0, 124, 0, 171, 0, 174, 0, 124, 0, 126, 0, 171, 0, 126, 0, 129, 0, 171, 0, 129, 0, 169, 0, 171, 0, 129, 0, 123, 0, 169, 0, 123, 0, 170, 0, 169, 0, 123, 0, 115, 0, 170, 0, 115, 0, 180, 0, 170, 0, 115, 0, 110, 0, 180, 0, 110, 0, 177, 0, 180, 0, 110, 0, 111, 0, 177, 0, 111, 0, 113, 0, 177, 0, 113, 0, 178, 0, 177, 0, 113, 0, 117, 0, 178, 0, 117, 0, 173, 0, 178, 0, 117, 0, 121, 0, 173, 0, 121, 0, 172, 0, 173, 0, 121, 0, 119, 0, 172, 0, 119, 0, 62, 0, 172, 0, 62, 0, 181, 0, 172, 0, 62, 0, 179, 0, 181, 0),
+"name": "stone",
+"primitive": 3,
+"vertex_count": 182,
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+}]
+blend_shape_mode = 0
+
+[sub_resource type="ArrayMesh" id="ArrayMesh_7vrxi"]
+resource_name = "chest_lid"
+_surfaces = [{
+"aabb": AABB(-0.3825, 0, -0.60641, 0.765, 0.343148, 0.68362),
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+}, {
+"aabb": AABB(-0.3825, 0, -0.60641, 0.765, 0.343148, 0.68362),
+"attribute_data": PackedByteArray(91, 173, 38, 194, 0, 0, 128, 63, 101, 214, 35, 194, 145, 142, 140, 192, 0, 0, 0, 0, 0, 0, 128, 63, 13, 131, 27, 194, 91, 173, 22, 193, 146, 68, 14, 194, 148, 183, 91, 193, 8, 4, 250, 193, 191, 88, 136, 193, 255, 208, 209, 193, 110, 255, 152, 193, 91, 173, 166, 193, 91, 173, 158, 193, 109, 19, 119, 193, 110, 255, 152, 193, 91, 173, 38, 193, 191, 88, 136, 193, 66, 70, 195, 192, 148, 183, 91, 193, 224, 164, 50, 192, 91, 173, 22, 193, 137, 189, 53, 191, 145, 142, 140, 192, 101, 50, 225, 65, 0, 0, 128, 63, 101, 50, 225, 65, 91, 173, 42, 66, 101, 50, 225, 193, 0, 0, 128, 63, 101, 50, 225, 193, 91, 173, 42, 66, 91, 173, 38, 66, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 128, 63, 101, 214, 35, 66, 145, 142, 140, 192, 13, 131, 27, 66, 91, 173, 22, 193, 146, 68, 14, 66, 148, 183, 91, 193, 8, 4, 250, 65, 191, 88, 136, 193, 255, 208, 209, 65, 110, 255, 152, 193, 91, 173, 166, 65, 91, 173, 158, 193, 109, 19, 119, 65, 110, 255, 152, 193, 91, 173, 38, 65, 191, 88, 136, 193, 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+"name": "stone",
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+
+[node name="lid" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.515, 0.2646)
+mesh = SubResource("ArrayMesh_7vrxi")
+skeleton = NodePath("")
+
+[node name="Area3D" type="Area3D" parent="."]
+collision_layer = 8
+collision_mask = 3
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Area3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.385244, 0)
+shape = SubResource("CylinderShape3D_3126s")
+
+[connection signal="body_entered" from="Area3D" to="." method="_on_area_3d_body_entered"]
diff --git a/deque.gd b/deque.gd
new file mode 100644
index 0000000000000000000000000000000000000000..9488229709db9fe899800329e6cb1b3d3a8df8b3
--- /dev/null
+++ b/deque.gd
@@ -0,0 +1,84 @@
+class_name Deque
+
+var _data : Array = []
+var _current_index : int = 0
+var max_size : int = -1:
+ set(value):
+ # Sets the maximum size and ensures the deque conforms to this size.
+ max_size = value
+ _current_index = 0
+ while _data.size() > max_size:
+ _data.pop_back()
+
+# Appends an element to the end of the deque.
+func push_back(value) -> void:
+ if max_size > -1 and _data.size() >= max_size:
+ _data.pop_front()
+ _data.append(value)
+
+# Adds an element to the beginning of the deque.
+func push_front(value) -> void:
+ if max_size > -1 and _data.size() >= max_size:
+ _data.pop_back()
+ _data.insert(0, value)
+
+# Removes and returns the last element of the deque.
+func pop_back() -> Variant:
+ if _data.size() == 0:
+ return null
+ return _data.pop_back()
+
+# Removes and returns the first element of the deque.
+func pop_front() -> Variant:
+ if _data.size() == 0:
+ return null
+ return _data.pop_front()
+
+# Returns the last element of the deque without removing it.
+func back() -> Variant:
+ if _data.size() == 0:
+ return null
+ return _data[_data.size() - 1]
+
+# Returns the first element of the deque without removing it.
+func front() -> Variant:
+ if _data.size() == 0:
+ return null
+ return _data[0]
+
+# Returns the number of elements in the deque.
+func size() -> int:
+ return _data.size()
+
+# Checks if the deque is empty.
+func is_empty() -> bool:
+ return _data.size() == 0
+
+# Clears the deque.
+func clear() -> void:
+ _data.clear()
+
+# Start of iteration. Resets the current index.
+func _iter_init(arg) -> bool:
+ _current_index = 0
+ return _current_index < _data.size()
+
+# Moves to the next item in the sequence.
+func _iter_next(arg) -> bool:
+ _current_index += 1
+ return _current_index < _data.size()
+
+# Returns the current item in the sequence.
+func _iter_get(arg) -> Variant:
+ if _current_index < _data.size():
+ return _data[_current_index]
+ return null
+
+# Reset current index when setting max size
+func set_max_size(value: int) -> void:
+ max_size = value
+ _current_index = 0
+ while _data.size() > max_size:
+ _data.pop_back()
+
+
diff --git a/game.gd b/game.gd
new file mode 100644
index 0000000000000000000000000000000000000000..1c83be82d43e4bcf56b52c78a9e9f6d3f4e7c9c5
--- /dev/null
+++ b/game.gd
@@ -0,0 +1,88 @@
+extends Node3D
+
+@onready var islands = $Islands
+@onready var mines = $Mines
+@onready var chests = $Chests
+
+@export var n_islands := 100
+@export var n_chests := 100
+@export var n_mines := 100
+
+@export var world_size := Rect2(-50, -50, 100, 100)
+@export var spawn_zone := Rect2(-5, -5, 10, 10)
+
+var island_scenes = [preload("res://islands.tscn")]
+var chest_scenes = [preload("res://chest.tscn")]
+var mine_scenes = [preload("res://mine.tscn")]
+
+var bbs : Array[Rect2]= []
+# Called when the node enters the scene tree for the first time.
+func _ready():
+ randomize()
+ spawn_world()
+ $Player.reset_signal.connect(spawn_world)
+
+
+func spawn_world():
+ bbs.clear()
+ bbs.append(spawn_zone)
+ spawn_islands()
+ spawn_chests()
+ spawn_mines()
+
+
+func bb_overlaps(rect: Rect2, border:float)->bool:
+ var expanded_rect = rect.grow(border)
+ for bb in bbs:
+ if bb.intersects(expanded_rect):
+ return true
+
+ return false
+
+
+func find_valid_position(aabb, border:float) -> Vector2:
+ var x_pos = randf_range(world_size.position.x, world_size.end.x)
+ var z_pos = randf_range(world_size.position.y, world_size.end.y)
+ var aabb2d = Rect2(Vector2(aabb.position.x+x_pos, aabb.position.z+z_pos), Vector2(aabb.size.x, aabb.size.z))
+
+ while bb_overlaps(aabb2d, border): # change to n_tries
+ x_pos = randf_range(world_size.position.x, world_size.end.x)
+ z_pos = randf_range(world_size.position.y, world_size.end.y)
+ aabb2d = Rect2(Vector2(aabb.position.x+x_pos, aabb.position.z+z_pos), Vector2(aabb.size.x, aabb.size.z))
+
+ return Vector2(aabb.position.x+x_pos, aabb.position.z+z_pos)
+
+func spawn_scene(scene, border:float):
+ var instance = scene.instantiate()
+ var aabb = instance.get_mesh_aabb()
+ var spawn_position = find_valid_position(aabb,border)
+ var aabb2d = Rect2(spawn_position, Vector2(aabb.size.x, aabb.size.z))
+
+ bbs.append(aabb2d)
+ instance.position = Vector3(spawn_position.x, 0.0, spawn_position.y)
+
+ instance.rotate_y(randf_range(0,2*PI))
+
+ return instance
+
+
+func clear_and_spawn(parent, scenes: Array, count, border: float=5.0):
+ for child in parent.get_children():
+ child.queue_free()
+
+ for i in count:
+ var scene = scenes.pick_random()
+ var instance = spawn_scene(scene, border)
+ parent.add_child(instance)
+ instance.set_owner(get_tree().edited_scene_root)
+
+func spawn_islands():
+ clear_and_spawn(islands, island_scenes, n_islands, 10.0)
+
+func spawn_chests():
+ clear_and_spawn(chests, chest_scenes, n_chests)
+
+func spawn_mines():
+ clear_and_spawn(mines, mine_scenes, n_mines)
+
+
diff --git a/game.tscn b/game.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..b2d20ce63db2096771ed8946292d6c64473a3831
--- /dev/null
+++ b/game.tscn
@@ -0,0 +1,71 @@
+[gd_scene load_steps=9 format=3 uid="uid://bufeymuvmqxji"]
+
+[ext_resource type="Script" path="res://game.gd" id="1_u4uwx"]
+[ext_resource type="PackedScene" uid="uid://bpdxuymjylis5" path="res://player.tscn" id="3_hm3tp"]
+[ext_resource type="Shader" uid="uid://dkh57lx7eqcsg" path="res://water_shader.tres" id="3_s5i1u"]
+
+[sub_resource type="ShaderMaterial" id="ShaderMaterial_ljqpd"]
+render_priority = 0
+shader = ExtResource("3_s5i1u")
+
+[sub_resource type="QuadMesh" id="QuadMesh_ugw64"]
+material = SubResource("ShaderMaterial_ljqpd")
+size = Vector2(300, 300)
+subdivide_width = 10
+subdivide_depth = 10
+orientation = 1
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_8wpn3"]
+albedo_color = Color(0.18483, 0.36409, 0.234525, 1)
+disable_receive_shadows = true
+
+[sub_resource type="QuadMesh" id="QuadMesh_wfiqy"]
+material = SubResource("StandardMaterial3D_8wpn3")
+size = Vector2(300, 300)
+orientation = 1
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_hydvp"]
+size = Vector3(230, 50, 230)
+
+[node name="Game" type="Node3D"]
+script = ExtResource("1_u4uwx")
+n_islands = 10
+n_chests = 50
+n_mines = 50
+world_size = Rect2(-100, -100, 200, 200)
+
+[node name="Sea" type="MeshInstance3D" parent="."]
+mesh = SubResource("QuadMesh_ugw64")
+
+[node name="Sand" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -6.5439, 0)
+mesh = SubResource("QuadMesh_wfiqy")
+
+[node name="Player" parent="." instance=ExtResource("3_hm3tp")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1.21881, -0.5, 0)
+
+[node name="RemoteTransform3D" type="RemoteTransform3D" parent="Player"]
+remote_path = NodePath("../../CameraBase")
+update_rotation = false
+
+[node name="CameraBase" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1.21881, -0.5, 0)
+
+[node name="Camera3D" type="Camera3D" parent="CameraBase"]
+transform = Transform3D(0.505331, -0.780183, 0.36872, 0, 0.427291, 0.904114, -0.862925, -0.456877, 0.215924, 13.3135, 36.3117, 9.05366)
+current = true
+
+[node name="Islands" type="Node3D" parent="."]
+
+[node name="Mines" type="Node3D" parent="."]
+
+[node name="Chests" type="Node3D" parent="."]
+
+[node name="GameArea" type="Area3D" parent="."]
+collision_layer = 0
+monitorable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="GameArea"]
+shape = SubResource("BoxShape3D_hydvp")
+
+[connection signal="body_exited" from="GameArea" to="Player" method="_on_game_area_body_exited"]
diff --git a/health_bar.gd b/health_bar.gd
new file mode 100644
index 0000000000000000000000000000000000000000..b9916303d06700c6393f9c12a8918792b309c217
--- /dev/null
+++ b/health_bar.gd
@@ -0,0 +1,11 @@
+extends Sprite3D
+
+@onready var health_bar_2d = $SubViewport/HealthBar2D
+
+
+func _ready():
+ update_health(3.0)
+
+
+func update_health(value):
+ health_bar_2d.update_health(value, 3.0)
diff --git a/health_bar.tscn b/health_bar.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..b3d69c27d93544545722e233216923e9bc767bd8
--- /dev/null
+++ b/health_bar.tscn
@@ -0,0 +1,25 @@
+[gd_scene load_steps=5 format=3 uid="uid://px62msmlcd4u"]
+
+[ext_resource type="Texture2D" uid="uid://duoockr2sau4a" path="res://assets/bar_green.png" id="1_ow354"]
+[ext_resource type="Script" path="res://health_bar.gd" id="2_0mudc"]
+[ext_resource type="Script" path="res://health_bar_2d.gd" id="3_4it6d"]
+
+[sub_resource type="ViewportTexture" id="ViewportTexture_oc0gm"]
+viewport_path = NodePath("SubViewport")
+
+[node name="HealthBar" type="Sprite3D"]
+billboard = 1
+texture = SubResource("ViewportTexture_oc0gm")
+script = ExtResource("2_0mudc")
+
+[node name="SubViewport" type="SubViewport" parent="."]
+transparent_bg = true
+size = Vector2i(200, 26)
+
+[node name="HealthBar2D" type="TextureProgressBar" parent="SubViewport"]
+offset_right = 40.0
+offset_bottom = 40.0
+max_value = 3.0
+value = 3.0
+texture_progress = ExtResource("1_ow354")
+script = ExtResource("3_4it6d")
diff --git a/health_bar_2d.gd b/health_bar_2d.gd
new file mode 100644
index 0000000000000000000000000000000000000000..4aba9b98aa55a5aa20bb7747d218ce64a7029c36
--- /dev/null
+++ b/health_bar_2d.gd
@@ -0,0 +1,18 @@
+extends TextureProgressBar
+
+var bar_red = preload("res://assets/bar_red.png")
+var bar_green = preload("res://assets/bar_green.png")
+var bar_yellow = preload("res://assets/bar_yellow.png")
+
+
+func _ready():
+ show()
+ texture_progress = bar_green
+
+func update_health(_value, max_value):
+ value = _value
+ texture_progress = bar_green
+ if value < 0.75 * max_value:
+ texture_progress = bar_yellow
+ if value < 0.45 * max_value:
+ texture_progress = bar_red
diff --git a/icon.svg b/icon.svg
new file mode 100644
index 0000000000000000000000000000000000000000..b370ceb72740b9a759fe11b364f0d4de27df42f8
--- /dev/null
+++ b/icon.svg
@@ -0,0 +1 @@
+
diff --git a/islands.gd b/islands.gd
new file mode 100644
index 0000000000000000000000000000000000000000..eaedfc01926f396f15c553bb7edda625138b619f
--- /dev/null
+++ b/islands.gd
@@ -0,0 +1,23 @@
+extends Node3D
+
+var island_mesh : MeshInstance3D
+
+func init():
+ var n_meshes = get_child_count() - 2
+ var mesh_id = randi_range(0, n_meshes-1)
+
+ for child in get_children():
+ if child is MeshInstance3D:
+ child.hide()
+
+ island_mesh = get_child(mesh_id) as MeshInstance3D
+ island_mesh.show()
+
+ var col_shape = island_mesh.mesh.create_convex_shape()
+ $Area3D/CollisionShape3D.shape = col_shape
+ $StaticBody3D/CollisionShape3D.shape = col_shape
+
+func get_mesh_aabb() -> AABB:
+ if island_mesh == null:
+ init()
+ return island_mesh.mesh.get_aabb()
diff --git a/islands.tscn b/islands.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..a70f7346d6fb424b82c4ea11dcbc9a67fe2230ec
--- /dev/null
+++ b/islands.tscn
@@ -0,0 +1,20 @@
+[gd_scene load_steps=3 format=3 uid="uid://cic47j3ixh261"]
+
+[ext_resource type="PackedScene" uid="uid://dplv61rnlprym" path="res://assets/islands.blend" id="1_170qk"]
+[ext_resource type="Script" path="res://islands.gd" id="2_4rvkp"]
+
+[node name="islands" instance=ExtResource("1_170qk")]
+script = ExtResource("2_4rvkp")
+
+[node name="Area3D" type="Area3D" parent="." index="3"]
+collision_layer = 4
+collision_mask = 0
+monitoring = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Area3D" index="0"]
+
+[node name="StaticBody3D" type="StaticBody3D" parent="." index="4"]
+collision_layer = 4
+collision_mask = 0
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="StaticBody3D" index="0"]
diff --git a/mine.gd b/mine.gd
new file mode 100644
index 0000000000000000000000000000000000000000..147412494d03e4bc957527182a56cc60293ee1d0
--- /dev/null
+++ b/mine.gd
@@ -0,0 +1,20 @@
+extends Node3D
+
+@onready var area_3d = $Area3D
+
+func _on_area_3d_body_entered(body):
+ if body is Player:
+ body.mine_hit()
+ call_deferred("respawn")
+
+func respawn():
+ hide()
+ area_3d.set_monitoring(false)
+ area_3d.set_monitorable(false)
+ await get_tree().create_timer(10.0).timeout
+ area_3d.set_monitoring(true)
+ area_3d.set_monitorable(true)
+ show()
+
+func get_mesh_aabb() -> AABB:
+ return $Icosphere.mesh.get_aabb().grow(scale.x)
diff --git a/mine.tscn b/mine.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..7df67cb077ee87eb1eef33374f8876100f71efe8
--- /dev/null
+++ b/mine.tscn
@@ -0,0 +1,18 @@
+[gd_scene load_steps=4 format=3 uid="uid://bkpr7mt3rwxj3"]
+
+[ext_resource type="PackedScene" uid="uid://coooffo26jyba" path="res://assets/mine.blend" id="1_tx8dm"]
+[ext_resource type="Script" path="res://mine.gd" id="2_xgged"]
+
+[sub_resource type="CylinderShape3D" id="CylinderShape3D_41oc0"]
+radius = 1.3
+
+[node name="mine" instance=ExtResource("1_tx8dm")]
+script = ExtResource("2_xgged")
+
+[node name="Area3D" type="Area3D" parent="." index="8"]
+collision_layer = 16
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Area3D" index="0"]
+shape = SubResource("CylinderShape3D_41oc0")
+
+[connection signal="body_entered" from="Area3D" to="." method="_on_area_3d_body_entered"]
diff --git a/player.tscn b/player.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..22593efad9cd6daec83310ea3e838167619a2504
--- /dev/null
+++ b/player.tscn
@@ -0,0 +1,2074 @@
+[gd_scene load_steps=9 format=3 uid="uid://bpdxuymjylis5"]
+
+[ext_resource type="Script" path="res://Player.gd" id="1_et66q"]
+[ext_resource type="Script" path="res://AIController3D.gd" id="2_3ydot"]
+[ext_resource type="PackedScene" uid="uid://di6shb3jquhjd" path="res://assets/ship_light.gltf" id="3_6et4q"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd" id="3_gxsr5"]
+[ext_resource type="PackedScene" uid="uid://px62msmlcd4u" path="res://health_bar.tscn" id="4_bnrq3"]
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_lpids"]
+size = Vector3(4, 2, 4)
+
+[sub_resource type="ViewportTexture" id="ViewportTexture_aypwr"]
+viewport_path = NodePath("SubViewport")
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_x01ay"]
+size = Vector3(1.96291, 1.5632, 4.79053)
+
+[node name="Player" type="CharacterBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.5, 0)
+collision_mask = 4
+axis_lock_linear_y = true
+axis_lock_angular_y = true
+motion_mode = 1
+wall_min_slide_angle = 0.0174533
+safe_margin = 0.1
+script = ExtResource("1_et66q")
+
+[node name="AIController3D" type="Node3D" parent="."]
+script = ExtResource("2_3ydot")
+reset_after = 8000
+
+[node name="GridSensor3D" type="Node3D" parent="AIController3D"]
+script = ExtResource("3_gxsr5")
+detection_mask = 28
+collide_with_areas = true
+cell_width = 4.0
+cell_height = 2.0
+grid_size_x = 15
+grid_size_z = 15
+
+[node name="GridCell 0 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 0 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -28, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 0 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 1 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -24, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 1 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 2 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -20, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 2 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 3 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -16, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 3 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 0" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 4 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 4 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 5 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 5 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 6 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 6 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 0"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 6" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 6"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 7 7" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 7 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 7 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 0"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 8 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 1"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 8 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 8"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 8 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 8 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 8 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 0" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 0"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 9 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 8"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 9 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 10"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 9 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 9 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 0, 28)
+collision_layer = 0
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 14"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 10 0" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 0"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 10 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 1"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 10 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 12"]
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+[node name="GridCell 10 13" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 13"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 10 14" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 10 14"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 0" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 0"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 16, 0, -24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 1"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 16, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 2"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 3" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 3"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 4" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 4"]
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+[node name="GridCell 11 5" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 5"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 6"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 7" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 7"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 8"]
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+[node name="GridCell 11 9" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_mask = 28
+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 9"]
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+[node name="GridCell 11 10" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 10"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 11" type="Area3D" parent="AIController3D/GridSensor3D"]
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+collision_layer = 0
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 11"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 16, 0, 20)
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+collision_mask = 28
+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 12"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 11 13" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 13"]
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+[node name="GridCell 11 14" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 14"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 0" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 0"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 1" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 1"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 2"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 3"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 4"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, -8)
+collision_layer = 0
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 5"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, -4)
+collision_layer = 0
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 6"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, 0)
+collision_layer = 0
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 7"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 20, 0, 4)
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 8"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 9" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 9"]
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+[node name="GridCell 12 10" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 10"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 11"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 12 12" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 12"]
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+[node name="GridCell 12 13" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 13"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 14"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 0"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 1"]
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+[node name="GridCell 13 2" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 2"]
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+[node name="GridCell 13 3" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 3"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 4"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 5"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 6"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 7"]
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+[node name="GridCell 13 8" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 8"]
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+[node name="GridCell 13 9" type="Area3D" parent="AIController3D/GridSensor3D"]
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 9"]
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+[node name="GridCell 13 10" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 10"]
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+[node name="GridCell 13 11" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 11"]
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+[node name="GridCell 13 12" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 12"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 13 13" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
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+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 13"]
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+[node name="GridCell 13 14" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 13 14"]
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+[node name="GridCell 14 0" type="Area3D" parent="AIController3D/GridSensor3D"]
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 0"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 14 1" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, -24)
+collision_layer = 0
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+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 1"]
+shape = SubResource("BoxShape3D_lpids")
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+[node name="GridCell 14 2" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, -20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 2"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 3" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, -16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 3"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 4" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, -12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 4"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 5" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, -8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 5"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 6" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, -4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 6"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 7" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 0)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 7"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 8" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 4)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 8"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 9" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 8)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 9"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 10" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 12)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 10"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 11" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 16)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 11"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 12" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 20)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 12"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 13" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 24)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 13"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="GridCell 14 14" type="Area3D" parent="AIController3D/GridSensor3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 28, 0, 28)
+collision_layer = 0
+collision_mask = 28
+input_ray_pickable = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 14"]
+shape = SubResource("BoxShape3D_lpids")
+
+[node name="ship_light" parent="." instance=ExtResource("3_6et4q")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.738133, 0, 0)
+
+[node name="HealthBar" parent="." instance=ExtResource("4_bnrq3")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 6.35306, 0)
+texture = SubResource("ViewportTexture_aypwr")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.755033, 0)
+shape = SubResource("BoxShape3D_x01ay")
diff --git a/project.godot b/project.godot
new file mode 100644
index 0000000000000000000000000000000000000000..991d7e047d3d4c6ad5e00f13db7d01a5c1d2ce13
--- /dev/null
+++ b/project.godot
@@ -0,0 +1,59 @@
+; 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="Ships"
+run/main_scene="res://train.tscn"
+config/features=PackedStringArray("4.1", "Forward Plus")
+config/icon="res://icon.svg"
+
+[dotnet]
+
+project/assembly_name="GridSensor3DExample"
+
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
+
+[input]
+
+turn_left={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"echo":false,"script":null)
+]
+}
+turn_right={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"echo":false,"script":null)
+]
+}
+move_forward={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"echo":false,"script":null)
+]
+}
+move_backward={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"echo":false,"script":null)
+]
+}
+
+[layer_names]
+
+3d_physics/layer_1="PLAYER"
+3d_physics/layer_2="ENEMY"
+3d_physics/layer_3="WORLD"
+3d_physics/layer_4="FOOD"
+3d_physics/layer_5="DANGER"
+
+[rendering]
+
+anti_aliasing/quality/msaa_3d=1
diff --git a/test_deque.gd b/test_deque.gd
new file mode 100644
index 0000000000000000000000000000000000000000..1bc8dc174e45116b8607ec22ed7c96272506a29f
--- /dev/null
+++ b/test_deque.gd
@@ -0,0 +1,48 @@
+extends Node
+
+func _ready():
+ test_max_size()
+ test_push_and_pop()
+ test_iteration()
+
+func test_max_size():
+ print("Testing max_size...")
+ var d = Deque.new()
+ d.max_size = 3
+
+ d.push_back(1)
+ d.push_back(2)
+ d.push_back(3)
+ d.push_back(4)
+ assert(d.size() == 3)
+ assert(d.front() == 2)
+ assert(d.back() == 4)
+ print("Max size test passed!")
+
+func test_push_and_pop():
+ print("Testing push and pop...")
+ var d = Deque.new()
+
+ d.push_back(1)
+ d.push_back(2)
+ d.push_front(0)
+ assert(d.pop_back() == 2)
+ assert(d.pop_front() == 0)
+ assert(d.front() == 1)
+ assert(d.back() == 1)
+ print("Push and pop test passed!")
+
+func test_iteration():
+ print("Testing iteration...")
+ var d = Deque.new()
+ d.max_size = 3
+ d.push_back(1)
+ d.push_back(2)
+ d.push_back(3)
+ d.push_back(4)
+
+ var sum = 0
+ for item in d:
+ sum += item
+ assert(sum == 9)
+ print("Iteration test passed!")
diff --git a/test_deque.tscn b/test_deque.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..32ee6f5182850db253ff716e13a1fb03a3d3905e
--- /dev/null
+++ b/test_deque.tscn
@@ -0,0 +1,6 @@
+[gd_scene load_steps=2 format=3 uid="uid://ycnasluljd40"]
+
+[ext_resource type="Script" path="res://test_deque.gd" id="1_2qtkh"]
+
+[node name="TestDeque" type="Node"]
+script = ExtResource("1_2qtkh")
diff --git a/train.tscn b/train.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..8ebd22981ee956d63326f48d0f1d4fbc7b19f54b
--- /dev/null
+++ b/train.tscn
@@ -0,0 +1,52 @@
+[gd_scene load_steps=7 format=3 uid="uid://fksmswbxg0pe"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="1_akerp"]
+[ext_resource type="PackedScene" uid="uid://bufeymuvmqxji" path="res://game.tscn" id="2_rofxx"]
+[ext_resource type="Texture2D" uid="uid://cjsq2r87b3kby" path="res://assets/sunflowers_puresky_2k.hdr" id="3_cexxv"]
+
+[sub_resource type="PanoramaSkyMaterial" id="PanoramaSkyMaterial_tj0lf"]
+panorama = ExtResource("3_cexxv")
+
+[sub_resource type="Sky" id="Sky_1k11o"]
+sky_material = SubResource("PanoramaSkyMaterial_tj0lf")
+
+[sub_resource type="Environment" id="Environment_2sf7y"]
+background_energy_multiplier = 0.68
+sky = SubResource("Sky_1k11o")
+ambient_light_source = 3
+reflected_light_source = 2
+
+[node name="Train" type="Node3D"]
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("1_akerp")
+
+[node name="Game" parent="." instance=ExtResource("2_rofxx")]
+
+[node name="Game2" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 308, 0, 0)
+
+[node name="Game3" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 310)
+
+[node name="Game4" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 308, 0, 310)
+
+[node name="Game5" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 614, 0, 0)
+
+[node name="Game6" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 922, 0, 0)
+
+[node name="Game7" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 614, 0, 310)
+
+[node name="Game8" parent="." instance=ExtResource("2_rofxx")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 922, 0, 310)
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_2sf7y")
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.539841, 0.598176, -0.592247, 0.0483619, 0.680374, 0.731268, 0.840376, -0.423411, 0.338365, -14.2717, 35.5205, -0.747414)
+shadow_enabled = true
diff --git a/water_shader.tres b/water_shader.tres
new file mode 100644
index 0000000000000000000000000000000000000000..059c836099df9fe1bdd7984edd461b81ead70e56
--- /dev/null
+++ b/water_shader.tres
@@ -0,0 +1,157 @@
+[gd_resource type="VisualShader" load_steps=17 format=3 uid="uid://dkh57lx7eqcsg"]
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_gduu2"]
+input_name = "time"
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_0jinn"]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatConstant" id="VisualShaderNodeFloatConstant_pbg52"]
+constant = 0.2
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_oxje3"]
+default_input_values = [0, 0.0, 1, 1.0]
+operator = 2
+
+[sub_resource type="VisualShaderNodeFloatOp" id="VisualShaderNodeFloatOp_lst05"]
+default_input_values = [0, 0.0, 1, 1.0]
+operator = 2
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_qbbap"]
+noise_type = 2
+frequency = 0.5
+cellular_distance_function = 1
+cellular_jitter = 1.0
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_m238x"]
+seamless = true
+noise = SubResource("FastNoiseLite_qbbap")
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_6hkds"]
+output_port_for_preview = 0
+texture = SubResource("NoiseTexture2D_m238x")
+
+[sub_resource type="VisualShaderNodeColorConstant" id="VisualShaderNodeColorConstant_26mjs"]
+constant = Color(0, 0.721569, 0.721569, 1)
+
+[sub_resource type="VisualShaderNodeVectorOp" id="VisualShaderNodeVectorOp_xa3cq"]
+
+[sub_resource type="VisualShaderNodeUVFunc" id="VisualShaderNodeUVFunc_dahvd"]
+default_input_values = [1, Vector2(0.005, 0.005), 2, Vector2(0, 0)]
+
+[sub_resource type="VisualShaderNodeInput" id="VisualShaderNodeInput_ckyyr"]
+input_name = "time"
+
+[sub_resource type="FastNoiseLite" id="FastNoiseLite_kkjxx"]
+noise_type = 2
+frequency = 0.5
+cellular_distance_function = 1
+cellular_jitter = 1.0
+
+[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_5vkah"]
+seamless = true
+noise = SubResource("FastNoiseLite_kkjxx")
+
+[sub_resource type="VisualShaderNodeTexture" id="VisualShaderNodeTexture_10i3j"]
+output_port_for_preview = 0
+texture = SubResource("NoiseTexture2D_5vkah")
+
+[sub_resource type="VisualShaderNodeUVFunc" id="VisualShaderNodeUVFunc_s4kjf"]
+default_input_values = [1, Vector2(-0.005, -0.005), 2, Vector2(0, 0)]
+
+[resource]
+code = "shader_type spatial;
+render_mode blend_mix, depth_draw_opaque, cull_back, diffuse_lambert, specular_schlick_ggx;
+
+uniform sampler2D tex_frg_2;
+uniform sampler2D tex_frg_8;
+
+
+
+void fragment() {
+// ColorConstant:3
+ vec4 n_out3p0 = vec4(0.000000, 0.721569, 0.721569, 1.000000);
+
+
+// Input:6
+ float n_out6p0 = TIME;
+
+
+// FloatOp:13
+ float n_in13p1 = 1.00000;
+ float n_out13p0 = n_out6p0 * n_in13p1;
+
+
+// UVFunc:5
+ vec2 n_in5p1 = vec2(0.00500, 0.00500);
+ vec2 n_out5p0 = vec2(n_out13p0) * n_in5p1 + UV;
+
+
+// Texture2D:2
+ vec4 n_out2p0 = texture(tex_frg_2, n_out5p0);
+
+
+// Input:10
+ float n_out10p0 = TIME;
+
+
+// FloatOp:14
+ float n_in14p1 = 1.00000;
+ float n_out14p0 = n_out10p0 * n_in14p1;
+
+
+// UVFunc:9
+ vec2 n_in9p1 = vec2(-0.00500, -0.00500);
+ vec2 n_out9p0 = vec2(n_out14p0) * n_in9p1 + UV;
+
+
+// Texture2D:8
+ vec4 n_out8p0 = texture(tex_frg_8, n_out9p0);
+
+
+// VectorOp:11
+ vec3 n_out11p0 = vec3(n_out2p0.xyz) * vec3(n_out8p0.xyz);
+
+
+// VectorOp:4
+ vec3 n_out4p0 = vec3(n_out3p0.xyz) + n_out11p0;
+
+
+// FloatConstant:12
+ float n_out12p0 = 0.200000;
+
+
+// Output:0
+ ALBEDO = n_out4p0;
+ ALPHA = n_out12p0;
+ EMISSION = n_out11p0;
+
+
+}
+"
+nodes/fragment/0/position = Vector2(840, 20)
+nodes/fragment/2/node = SubResource("VisualShaderNodeTexture_6hkds")
+nodes/fragment/2/position = Vector2(100, 240)
+nodes/fragment/3/node = SubResource("VisualShaderNodeColorConstant_26mjs")
+nodes/fragment/3/position = Vector2(90.5704, 62.3962)
+nodes/fragment/4/node = SubResource("VisualShaderNodeVectorOp_xa3cq")
+nodes/fragment/4/position = Vector2(580, 320)
+nodes/fragment/5/node = SubResource("VisualShaderNodeUVFunc_dahvd")
+nodes/fragment/5/position = Vector2(-240, 340)
+nodes/fragment/6/node = SubResource("VisualShaderNodeInput_ckyyr")
+nodes/fragment/6/position = Vector2(-800, 440)
+nodes/fragment/8/node = SubResource("VisualShaderNodeTexture_10i3j")
+nodes/fragment/8/position = Vector2(100, 520)
+nodes/fragment/9/node = SubResource("VisualShaderNodeUVFunc_s4kjf")
+nodes/fragment/9/position = Vector2(-240, 620)
+nodes/fragment/10/node = SubResource("VisualShaderNodeInput_gduu2")
+nodes/fragment/10/position = Vector2(-840, 680)
+nodes/fragment/11/node = SubResource("VisualShaderNodeVectorOp_0jinn")
+nodes/fragment/11/position = Vector2(380, 380)
+nodes/fragment/12/node = SubResource("VisualShaderNodeFloatConstant_pbg52")
+nodes/fragment/12/position = Vector2(503.716, 141.055)
+nodes/fragment/13/node = SubResource("VisualShaderNodeFloatOp_oxje3")
+nodes/fragment/13/position = Vector2(-480, 420)
+nodes/fragment/14/node = SubResource("VisualShaderNodeFloatOp_lst05")
+nodes/fragment/14/position = Vector2(-480, 640)
+nodes/fragment/connections = PackedInt32Array(3, 0, 4, 0, 4, 0, 0, 0, 5, 0, 2, 0, 9, 0, 8, 0, 2, 0, 11, 0, 8, 0, 11, 1, 11, 0, 4, 1, 12, 0, 0, 1, 11, 0, 0, 5, 6, 0, 13, 0, 13, 0, 5, 2, 10, 0, 14, 0, 14, 0, 9, 2)