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); + 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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); + + +// 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+nodes/fragment/101/node = SubResource("VisualShaderNodeFloatOp_u8qml") +nodes/fragment/101/position = Vector2(5460, -2100) +nodes/fragment/connections = PackedInt32Array(35, 0, 36, 0, 32, 0, 35, 1, 34, 0, 33, 0, 31, 0, 33, 1, 33, 0, 35, 0, 60, 0, 56, 1, 59, 0, 56, 0, 68, 0, 64, 0, 63, 0, 69, 0, 64, 0, 69, 1, 70, 0, 63, 0, 66, 0, 71, 0, 71, 0, 70, 2, 71, 0, 68, 2, 55, 0, 75, 2, 69, 0, 90, 0, 90, 0, 0, 9, 74, 0, 0, 3, 72, 0, 0, 4, 61, 0, 0, 2, 56, 0, 0, 0, 75, 0, 0, 1, 91, 0, 62, 0, 62, 0, 92, 0, 92, 0, 93, 1, 95, 0, 94, 0, 62, 0, 94, 2, 94, 0, 96, 0, 96, 0, 97, 0, 97, 0, 98, 0, 98, 0, 99, 0, 62, 0, 99, 1, 99, 0, 93, 0, 36, 0, 100, 0, 62, 0, 100, 1, 100, 0, 101, 0, 93, 0, 101, 1, 101, 0, 55, 1, 55, 0, 56, 2, 39, 0, 55, 0) 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): + 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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" 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136, 249, 60, 255, 255, 255, 127, 255, 255, 255, 255, 20, 174, 103, 190, 91, 78, 173, 59, 125, 140, 36, 61, 255, 255, 255, 127, 255, 255, 255, 255, 20, 174, 103, 190, 188, 227, 181, 61, 158, 235, 136, 61, 255, 255, 255, 127, 255, 255, 255, 255, 20, 174, 103, 190, 150, 138, 38, 60, 58, 32, 158, 61, 255, 255, 255, 127, 255, 255, 255, 255) +}] +blend_shape_mode = 0 +shadow_mesh = SubResource("ArrayMesh_1hvow") + +[sub_resource type="CylinderShape3D" id="CylinderShape3D_3126s"] +height = 0.8 +radius = 0.778727 + +[node name="chest" type="MeshInstance3D"] +transform = Transform3D(2, 0, 0, 0, 2, 0, 0, 0, 2, 0, 0, 0) +mesh = SubResource("ArrayMesh_ycdmf") +skeleton = NodePath("") +script = ExtResource("1_bycqm") + +[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"] +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 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"] +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 6"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 7 7" type="Area3D" parent="AIController3D/GridSensor3D"] +collision_layer = 0 +collision_mask = 28 +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") + +[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") + +[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") + +[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") + +[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") + +[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") + +[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 +collision_mask = 28 +input_ray_pickable = false + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 9 14"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 10 0" 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 10 0"] +shape = SubResource("BoxShape3D_lpids") + +[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"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 10 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 10 13"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 10 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 10 14"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 0"] +shape = SubResource("BoxShape3D_lpids") + +[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 + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 11 1"] +shape = SubResource("BoxShape3D_lpids") + +[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") + +[node name="GridCell 11 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 11 3"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 4"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 5"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 6"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 7"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 8"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 9"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 10"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 11"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 12"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 13"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 11 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 11 14"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 0"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 1"] +shape = SubResource("BoxShape3D_lpids") + +[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") + +[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") + +[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 + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 4"] +shape = SubResource("BoxShape3D_lpids") + +[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 +collision_mask = 28 +input_ray_pickable = false + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 5"] +shape = SubResource("BoxShape3D_lpids") + +[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 +collision_mask = 28 +input_ray_pickable = false + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 6"] +shape = SubResource("BoxShape3D_lpids") + +[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 +collision_mask = 28 +input_ray_pickable = false + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 12 7"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 8"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 9"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 10"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 11"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 12"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 13"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 12 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 12 14"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 0"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 1"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 2"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 3"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 4"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 5"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 6"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 7"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 8"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 9"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 10"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 11"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 12"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 13"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 13 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 13 14"] +shape = SubResource("BoxShape3D_lpids") + +[node name="GridCell 14 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 14 0"] +shape = SubResource("BoxShape3D_lpids") + +[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 +collision_mask = 28 +input_ray_pickable = false + +[node name="CollisionShape3D" type="CollisionShape3D" parent="AIController3D/GridSensor3D/GridCell 14 1"] +shape = SubResource("BoxShape3D_lpids") + +[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)