diff --git a/.gitattributes b/.gitattributes index 28df5f900b358436f0267334b3e3e9af33f917ba..3f98c7bde9cc406c9f9a03888dc1723899a676ba 100644 --- a/.gitattributes +++ b/.gitattributes @@ -53,3 +53,6 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.jpg filter=lfs diff=lfs merge=lfs -text *.jpeg filter=lfs diff=lfs merge=lfs -text *.webp filter=lfs diff=lfs merge=lfs -text +blender/robot.blend filter=lfs diff=lfs merge=lfs -text +blender/static_decorations.blend filter=lfs diff=lfs merge=lfs -text +textures/sky.exr filter=lfs diff=lfs merge=lfs -text diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..67b9623700bd374e09cd5243590d5987c33648e7 --- /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 RobotVolleyball for the Godot Game Engine. + +This environment was created with: https://github.com/edbeeching/godot_rl_agents + + +## Downloading the environment + +After installing Godot RL Agents, download the environment with: + +``` +gdrl.env_from_hub -r edbeeching/godot_rl_RobotVolleyball +``` + + + diff --git a/RobotVolleyball.csproj b/RobotVolleyball.csproj new file mode 100644 index 0000000000000000000000000000000000000000..d820843920d40c0352bc42fa5b293ede725d5ea0 --- /dev/null +++ b/RobotVolleyball.csproj @@ -0,0 +1,11 @@ + + + net6.0 + net7.0 + net8.0 + true + + + + + \ No newline at end of file diff --git a/RobotVolleyball.sln b/RobotVolleyball.sln new file mode 100644 index 0000000000000000000000000000000000000000..3d48e095e419459071f71f2ae529985e72b954b4 --- /dev/null +++ b/RobotVolleyball.sln @@ -0,0 +1,19 @@ +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2012 +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotVolleyball", "RobotVolleyball.csproj", "{D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}" +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 + {D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}.Debug|Any CPU.Build.0 = Debug|Any CPU + {D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU + {D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU + {D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU + {D16F0B71-2C5E-479E-B683-CBFF6C9F71E7}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU + EndGlobalSection +EndGlobal 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/icon.png.import b/addons/godot_rl_agents/icon.png.import new file mode 100644 index 0000000000000000000000000000000000000000..9bf0cf5c247caa9943578824ec276d977c9c7908 --- /dev/null +++ b/addons/godot_rl_agents/icon.png.import @@ -0,0 +1,34 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://g2osotvjho5v" +path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex" +metadata={ +"vram_texture": false +} + +[deps] + +source_file="res://addons/godot_rl_agents/icon.png" +dest_files=["res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"] + +[params] + +compress/mode=0 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=false +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=1 diff --git a/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs new file mode 100644 index 0000000000000000000000000000000000000000..0741f0f263f34fffc44993e2b11a7544b0384ca1 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs @@ -0,0 +1,103 @@ +using Godot; +using Microsoft.ML.OnnxRuntime; +using Microsoft.ML.OnnxRuntime.Tensors; +using System.Collections.Generic; +using System.Linq; + +namespace GodotONNX +{ + /// + public partial class ONNXInference : GodotObject + { + + private InferenceSession session; + /// + /// Path to the ONNX model. Use Initialize to change it. + /// + private string modelPath; + private int batchSize; + + private SessionOptions SessionOpt; + + //init function + /// + public void Initialize(string Path, int BatchSize) + { + modelPath = Path; + batchSize = BatchSize; + SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions(); + session = LoadModel(modelPath); + + } + /// + public Godot.Collections.Dictionary> RunInference(Godot.Collections.Array obs, int state_ins) + { + //Current model: Any (Godot Rl Agents) + //Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins + + //Fill the input tensors + // create span from inputSize + var span = new float[obs.Count]; //There's probably a better way to do this + for (int i = 0; i < obs.Count; i++) + { + span[i] = obs[i]; + } + + IReadOnlyCollection inputs = new List + { + NamedOnnxValue.CreateFromTensor("obs", new DenseTensor(span, new int[] { batchSize, obs.Count })), + NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor(new float[] { state_ins }, new int[] { batchSize })) + }; + IReadOnlyCollection outputNames = new List { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names + + IDisposableReadOnlyCollection results; + //We do not use "using" here so we get a better exception explaination later + try + { + results = session.Run(inputs, outputNames); + } + catch (OnnxRuntimeException e) + { + //This error usually means that the model is not compatible with the input, beacause of the input shape (size) + GD.Print("Error at inference: ", e); + return null; + } + //Can't convert IEnumerable to Variant, so we have to convert it to an array or something + Godot.Collections.Dictionary> output = new Godot.Collections.Dictionary>(); + DisposableNamedOnnxValue output1 = results.First(); + DisposableNamedOnnxValue output2 = results.Last(); + Godot.Collections.Array output1Array = new Godot.Collections.Array(); + Godot.Collections.Array output2Array = new Godot.Collections.Array(); + + foreach (float f in output1.AsEnumerable()) + { + output1Array.Add(f); + } + + foreach (float f in output2.AsEnumerable()) + { + output2Array.Add(f); + } + + output.Add(output1.Name, output1Array); + output.Add(output2.Name, output2Array); + + //Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]} + results.Dispose(); + return output; + } + /// + public InferenceSession LoadModel(string Path) + { + using Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read); + byte[] model = file.GetBuffer((int)file.GetLength()); + //file.Close(); file.Dispose(); //Close the file, then dispose the reference. + return new InferenceSession(model, SessionOpt); //Load the model + } + public void FreeDisposables() + { + session.Dispose(); + SessionOpt.Dispose(); + } + } +} diff --git a/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs new file mode 100644 index 0000000000000000000000000000000000000000..ad7a41cfee0dc3d497d9c1d03bd0752b09d49f3a --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs @@ -0,0 +1,131 @@ +using Godot; +using Microsoft.ML.OnnxRuntime; + +namespace GodotONNX +{ + /// + + public static class SessionConfigurator + { + public enum ComputeName + { + CUDA, + ROCm, + DirectML, + CoreML, + CPU + } + + /// + public static SessionOptions MakeConfiguredSessionOptions() + { + SessionOptions sessionOptions = new(); + SetOptions(sessionOptions); + return sessionOptions; + } + + private static void SetOptions(SessionOptions sessionOptions) + { + sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING; + ApplySystemSpecificOptions(sessionOptions); + } + + /// + static public void ApplySystemSpecificOptions(SessionOptions sessionOptions) + { + //Most code for this function is verbose only, the only reason it exists is to track + //implementation progress of the different compute APIs. + + //December 2022: CUDA is not working. + + string OSName = OS.GetName(); //Get OS Name + + //ComputeName ComputeAPI = ComputeCheck(); //Get Compute API + // //TODO: Get CPU architecture + + //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++) + //Windows can use OpenVINO (C#) on x64 + //TODO: try TensorRT instead of CUDA + //TODO: Use OpenVINO for Intel Graphics + + // Temporarily using CPU on all platforms to avoid errors detected with DML + ComputeName ComputeAPI = ComputeName.CPU; + + //match OS and Compute API + GD.Print($"OS: {OSName} Compute API: {ComputeAPI}"); + + // CPU is set by default without appending necessary + // sessionOptions.AppendExecutionProvider_CPU(0); + + /* + switch (OSName) + { + case "Windows": //Can use CUDA, DirectML + if (ComputeAPI is ComputeName.CUDA) + { + //CUDA + //sessionOptions.AppendExecutionProvider_CUDA(0); + //sessionOptions.AppendExecutionProvider_DML(0); + } + else if (ComputeAPI is ComputeName.DirectML) + { + //DirectML + //sessionOptions.AppendExecutionProvider_DML(0); + } + break; + case "X11": //Can use CUDA, ROCm + if (ComputeAPI is ComputeName.CUDA) + { + //CUDA + //sessionOptions.AppendExecutionProvider_CUDA(0); + } + if (ComputeAPI is ComputeName.ROCm) + { + //ROCm, only works on x86 + //Research indicates that this has to be compiled as a GDNative plugin + //GD.Print("ROCm not supported yet, using CPU."); + //sessionOptions.AppendExecutionProvider_CPU(0); + } + break; + case "macOS": //Can use CoreML + if (ComputeAPI is ComputeName.CoreML) + { //CoreML + //TODO: Needs testing + //sessionOptions.AppendExecutionProvider_CoreML(0); + //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub + } + break; + default: + GD.Print("OS not Supported."); + break; + } + */ + } + + + /// + public static ComputeName ComputeCheck() + { + string adapterName = Godot.RenderingServer.GetVideoAdapterName(); + //string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor(); + adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo("")); + //TODO: GPU vendors for MacOS, what do they even use these days? + + if (adapterName.Contains("INTEL")) + { + return ComputeName.DirectML; + } + if (adapterName.Contains("AMD") || adapterName.Contains("RADEON")) + { + return ComputeName.DirectML; + } + if (adapterName.Contains("NVIDIA")) + { + return ComputeName.CUDA; + } + + GD.Print("Graphics Card not recognized."); //Should use CPU + return ComputeName.CPU; + } + } +} diff --git a/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml new file mode 100644 index 0000000000000000000000000000000000000000..91b07d607dc89f11e957e13758d8c0ee4fb72be8 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml @@ -0,0 +1,31 @@ + + + + + The main ONNXInference Class that handles the inference process. + + + + + Starts the inference process. + + Path to the ONNX model, expects a path inside resources. + How many observations will the model recieve. + + + + Runs the given input through the model and returns the output. + + Dictionary containing all observations. + How many different agents are creating these observations. + A Dictionary of arrays, containing instructions based on the observations. + + + + Loads the given model into the inference process, using the best Execution provider available. + + Path to the ONNX model, expects a path inside resources. + InferenceSession ready to run. + + + \ No newline at end of file diff --git a/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml new file mode 100644 index 0000000000000000000000000000000000000000..f160c02f0d4cab92e10f799b6f4c5a71d4d6c0f2 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml @@ -0,0 +1,29 @@ + + + + + The main SessionConfigurator Class that handles the execution options and providers for the inference process. + + + + + Creates a SessionOptions with all available execution providers. + + SessionOptions with all available execution providers. + + + + Appends any execution provider available in the current system. + + + This function is mainly verbose for tracking implementation progress of different compute APIs. + + + + + Checks for available GPUs. + + An integer identifier for each compute platform. + + + \ No newline at end of file diff --git a/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd new file mode 100644 index 0000000000000000000000000000000000000000..d573582b995a2b8fe05553f7cf58fb2e3b58d482 --- /dev/null +++ b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd @@ -0,0 +1,27 @@ +extends Resource +class_name ONNXModel +var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs") + +var inferencer = null + + +# Must provide the path to the model and the batch size +func _init(model_path, batch_size): + inferencer = inferencer_script.new() + inferencer.Initialize(model_path, batch_size) + + +# This function is the one that will be called from the game, +# requires the observation as an array and the state_ins as an int +# returns an Array containing the action the model takes. +func run_inference(obs: Array, state_ins: int) -> Dictionary: + if inferencer == null: + printerr("Inferencer not initialized") + return {} + return inferencer.RunInference(obs, state_ins) + + +func _notification(what): + if what == NOTIFICATION_PREDELETE: + inferencer.FreeDisposables() + inferencer.free() diff --git a/addons/godot_rl_agents/plugin.cfg b/addons/godot_rl_agents/plugin.cfg new file mode 100644 index 0000000000000000000000000000000000000000..b1bc988c80e3fe68e6d4279691fd5892e5ef323d --- /dev/null +++ b/addons/godot_rl_agents/plugin.cfg @@ -0,0 +1,7 @@ +[plugin] + +name="GodotRLAgents" +description="Custom nodes for the godot rl agents toolkit " +author="Edward Beeching" +version="0.1" +script="godot_rl_agents.gd" diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..5edb6c7fc9da56e625d57185bdbafdbcc3fc67c5 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn @@ -0,0 +1,48 @@ +[gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"] + +[sub_resource type="GDScript" id="2"] +script/source = "extends Node2D + + + +func _physics_process(delta: float) -> void: + print(\"step start\") + +" + +[sub_resource type="GDScript" id="1"] +script/source = "extends RayCast2D + +var steps = 1 + +func _physics_process(delta: float) -> void: + print(\"processing raycast\") + steps += 1 + if steps % 2: + force_raycast_update() + + print(is_colliding()) +" + +[sub_resource type="CircleShape2D" id="3"] + +[node name="ExampleRaycastSensor2D" type="Node2D"] +script = SubResource("2") + +[node name="ExampleAgent" type="Node2D" parent="."] +position = Vector2(573, 314) +rotation = 0.286234 + +[node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"] +script = ExtResource("1") + +[node name="TestRayCast2D" type="RayCast2D" parent="."] +script = SubResource("1") + +[node name="StaticBody2D" type="StaticBody2D" parent="."] +position = Vector2(1, 52) + +[node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"] +shape = SubResource("3") diff --git a/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd new file mode 100644 index 0000000000000000000000000000000000000000..da170ba93919a8f28510ea8fc1ab876fe5876d34 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd @@ -0,0 +1,235 @@ +@tool +extends ISensor2D +class_name GridSensor2D + +@export var debug_view := false: + get: + return debug_view + set(value): + debug_view = value + _update() + +@export_flags_2d_physics var detection_mask := 0: + get: + return detection_mask + set(value): + detection_mask = value + _update() + +@export var collide_with_areas := false: + get: + return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := true: + get: + return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export_range(1, 200, 0.1) var cell_width := 20.0: + get: + return cell_width + set(value): + cell_width = value + _update() + +@export_range(1, 200, 0.1) var cell_height := 20.0: + get: + return cell_height + set(value): + cell_height = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_x := 3: + get: + return grid_size_x + set(value): + grid_size_x = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_y := 3: + get: + return grid_size_y + set(value): + grid_size_y = value + _update() + +var _obs_buffer: PackedFloat64Array +var _rectangle_shape: RectangleShape2D +var _collision_mapping: Dictionary +var _n_layers_per_cell: int + +var _highlighted_cell_color: Color +var _standard_cell_color: Color + + +func get_observation(): + return _obs_buffer + + +func _update(): + if Engine.is_editor_hint(): + if is_node_ready(): + _spawn_nodes() + + +func _ready() -> void: + _set_colors() + + if Engine.is_editor_hint(): + if get_child_count() == 0: + _spawn_nodes() + else: + _spawn_nodes() + + +func _set_colors() -> void: + _standard_cell_color = Color(100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0) + _highlighted_cell_color = Color(255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0) + + +func _get_collision_mapping() -> Dictionary: + # defines which layer is mapped to which cell obs index + var total_bits = 0 + var collision_mapping = {} + for i in 32: + var bit_mask = 2 ** i + if (detection_mask & bit_mask) > 0: + collision_mapping[i] = total_bits + total_bits += 1 + + return collision_mapping + + +func _spawn_nodes(): + for cell in get_children(): + cell.name = "_%s" % cell.name # Otherwise naming below will fail + cell.queue_free() + + _collision_mapping = _get_collision_mapping() + #prints("collision_mapping", _collision_mapping, len(_collision_mapping)) + # allocate memory for the observations + _n_layers_per_cell = len(_collision_mapping) + _obs_buffer = PackedFloat64Array() + _obs_buffer.resize(grid_size_x * grid_size_y * _n_layers_per_cell) + _obs_buffer.fill(0) + #prints(len(_obs_buffer), _obs_buffer ) + + _rectangle_shape = RectangleShape2D.new() + _rectangle_shape.set_size(Vector2(cell_width, cell_height)) + + var shift := Vector2( + -(grid_size_x / 2) * cell_width, + -(grid_size_y / 2) * cell_height, + ) + + for i in grid_size_x: + for j in grid_size_y: + var cell_position = Vector2(i * cell_width, j * cell_height) + shift + _create_cell(i, j, cell_position) + + +func _create_cell(i: int, j: int, position: Vector2): + var cell := Area2D.new() + cell.position = position + cell.name = "GridCell %s %s" % [i, j] + cell.modulate = _standard_cell_color + + if collide_with_areas: + cell.area_entered.connect(_on_cell_area_entered.bind(i, j)) + cell.area_exited.connect(_on_cell_area_exited.bind(i, j)) + + if collide_with_bodies: + cell.body_entered.connect(_on_cell_body_entered.bind(i, j)) + cell.body_exited.connect(_on_cell_body_exited.bind(i, j)) + + cell.collision_layer = 0 + cell.collision_mask = detection_mask + cell.monitorable = true + add_child(cell) + cell.set_owner(get_tree().edited_scene_root) + + var col_shape := CollisionShape2D.new() + col_shape.shape = _rectangle_shape + col_shape.name = "CollisionShape2D" + cell.add_child(col_shape) + col_shape.set_owner(get_tree().edited_scene_root) + + if debug_view: + var quad = MeshInstance2D.new() + quad.name = "MeshInstance2D" + var quad_mesh = QuadMesh.new() + + quad_mesh.set_size(Vector2(cell_width, cell_height)) + + quad.mesh = quad_mesh + cell.add_child(quad) + quad.set_owner(get_tree().edited_scene_root) + + +func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool): + for key in _collision_mapping: + var bit_mask = 2 ** key + if (collision_layer & bit_mask) > 0: + var collison_map_index = _collision_mapping[key] + + var obs_index = ( + (cell_i * grid_size_x * _n_layers_per_cell) + + (cell_j * _n_layers_per_cell) + + collison_map_index + ) + #prints(obs_index, cell_i, cell_j) + if entered: + _obs_buffer[obs_index] += 1 + else: + _obs_buffer[obs_index] -= 1 + + +func _toggle_cell(cell_i: int, cell_j: int): + var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j]) + + if cell == null: + print("cell not found, returning") + + var n_hits = 0 + var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell) + for i in _n_layers_per_cell: + n_hits += _obs_buffer[start_index + i] + + if n_hits > 0: + cell.modulate = _highlighted_cell_color + else: + cell.modulate = _standard_cell_color + + +func _on_cell_area_entered(area: Area2D, cell_i: int, cell_j: int): + #prints("_on_cell_area_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + #print(_obs_buffer) + + +func _on_cell_area_exited(area: Area2D, cell_i: int, cell_j: int): + #prints("_on_cell_area_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_entered(body: Node2D, cell_i: int, cell_j: int): + #prints("_on_cell_body_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_exited(body: Node2D, cell_i: int, cell_j: int): + #prints("_on_cell_body_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd new file mode 100644 index 0000000000000000000000000000000000000000..67669a1d71a3e37d780b396633951d7d1ac79edb --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd @@ -0,0 +1,25 @@ +extends Node2D +class_name ISensor2D + +var _obs: Array = [] +var _active := false + + +func get_observation(): + pass + + +func activate(): + _active = true + + +func deactivate(): + _active = false + + +func _update_observation(): + pass + + +func reset(): + pass diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd new file mode 100644 index 0000000000000000000000000000000000000000..9bb54ede90a6f6ffd5e65d89bf1bd561bc0832ed --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd @@ -0,0 +1,118 @@ +@tool +extends ISensor2D +class_name RaycastSensor2D + +@export_flags_2d_physics var collision_mask := 1: + get: + return collision_mask + set(value): + collision_mask = value + _update() + +@export var collide_with_areas := false: + get: + return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := true: + get: + return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export var n_rays := 16.0: + get: + return n_rays + set(value): + n_rays = value + _update() + +@export_range(5, 3000, 5.0) var ray_length := 200: + get: + return ray_length + set(value): + ray_length = value + _update() +@export_range(5, 360, 5.0) var cone_width := 360.0: + get: + return cone_width + set(value): + cone_width = value + _update() + +@export var debug_draw := true: + get: + return debug_draw + set(value): + debug_draw = value + _update() + +var _angles = [] +var rays := [] + + +func _update(): + if Engine.is_editor_hint(): + if debug_draw: + _spawn_nodes() + else: + for ray in get_children(): + if ray is RayCast2D: + remove_child(ray) + + +func _ready() -> void: + _spawn_nodes() + + +func _spawn_nodes(): + for ray in rays: + ray.queue_free() + rays = [] + + _angles = [] + var step = cone_width / (n_rays) + var start = step / 2 - cone_width / 2 + + for i in n_rays: + var angle = start + i * step + var ray = RayCast2D.new() + ray.set_target_position( + Vector2(ray_length * cos(deg_to_rad(angle)), ray_length * sin(deg_to_rad(angle))) + ) + ray.set_name("node_" + str(i)) + ray.enabled = false + ray.collide_with_areas = collide_with_areas + ray.collide_with_bodies = collide_with_bodies + ray.collision_mask = collision_mask + add_child(ray) + rays.append(ray) + + _angles.append(start + i * step) + + +func get_observation() -> Array: + return self.calculate_raycasts() + + +func calculate_raycasts() -> Array: + var result = [] + for ray in rays: + ray.enabled = true + ray.force_raycast_update() + var distance = _get_raycast_distance(ray) + result.append(distance) + ray.enabled = false + return result + + +func _get_raycast_distance(ray: RayCast2D) -> float: + if !ray.is_colliding(): + return 0.0 + + var distance = (global_position - ray.get_collision_point()).length() + distance = clamp(distance, 0.0, ray_length) + return (ray_length - distance) / ray_length diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..5ca402c08305efedbfc6afd0a1893a0ca2e11cfd --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn @@ -0,0 +1,7 @@ +[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"] + +[node name="RaycastSensor2D" type="Node2D"] +script = ExtResource("1") +n_rays = 17.0 diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..a8057c7619cbb835709d2704074b0d5ebfa00a0c --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn @@ -0,0 +1,6 @@ +[gd_scene format=3 uid="uid://biu787qh4woik"] + +[node name="ExampleRaycastSensor3D" type="Node3D"] + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.804183, 0, 2.70146) diff --git a/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..03593cc04d74ce0d0f16a4518e59b9309a09a5a7 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd @@ -0,0 +1,258 @@ +@tool +extends ISensor3D +class_name GridSensor3D + +@export var debug_view := false: + get: + return debug_view + set(value): + debug_view = value + _update() + +@export_flags_3d_physics var detection_mask := 0: + get: + return detection_mask + set(value): + detection_mask = value + _update() + +@export var collide_with_areas := false: + get: + return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := false: + # NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them + get: + return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export_range(0.1, 2, 0.1) var cell_width := 1.0: + get: + return cell_width + set(value): + cell_width = value + _update() + +@export_range(0.1, 2, 0.1) var cell_height := 1.0: + get: + return cell_height + set(value): + cell_height = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_x := 3: + get: + return grid_size_x + set(value): + grid_size_x = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_z := 3: + get: + return grid_size_z + set(value): + grid_size_z = value + _update() + +var _obs_buffer: PackedFloat64Array +var _box_shape: BoxShape3D +var _collision_mapping: Dictionary +var _n_layers_per_cell: int + +var _highlighted_box_material: StandardMaterial3D +var _standard_box_material: StandardMaterial3D + + +func get_observation(): + return _obs_buffer + + +func reset(): + _obs_buffer.fill(0) + + +func _update(): + if Engine.is_editor_hint(): + if is_node_ready(): + _spawn_nodes() + + +func _ready() -> void: + _make_materials() + + if Engine.is_editor_hint(): + if get_child_count() == 0: + _spawn_nodes() + else: + _spawn_nodes() + + +func _make_materials() -> void: + if _highlighted_box_material != null and _standard_box_material != null: + return + + _standard_box_material = StandardMaterial3D.new() + _standard_box_material.set_transparency(1) # ALPHA + _standard_box_material.albedo_color = Color( + 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0 + ) + + _highlighted_box_material = StandardMaterial3D.new() + _highlighted_box_material.set_transparency(1) # ALPHA + _highlighted_box_material.albedo_color = Color( + 255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0 + ) + + +func _get_collision_mapping() -> Dictionary: + # defines which layer is mapped to which cell obs index + var total_bits = 0 + var collision_mapping = {} + for i in 32: + var bit_mask = 2 ** i + if (detection_mask & bit_mask) > 0: + collision_mapping[i] = total_bits + total_bits += 1 + + return collision_mapping + + +func _spawn_nodes(): + for cell in get_children(): + cell.name = "_%s" % cell.name # Otherwise naming below will fail + cell.queue_free() + + _collision_mapping = _get_collision_mapping() + #prints("collision_mapping", _collision_mapping, len(_collision_mapping)) + # allocate memory for the observations + _n_layers_per_cell = len(_collision_mapping) + _obs_buffer = PackedFloat64Array() + _obs_buffer.resize(grid_size_x * grid_size_z * _n_layers_per_cell) + _obs_buffer.fill(0) + #prints(len(_obs_buffer), _obs_buffer ) + + _box_shape = BoxShape3D.new() + _box_shape.set_size(Vector3(cell_width, cell_height, cell_width)) + + var shift := Vector3( + -(grid_size_x / 2) * cell_width, + 0, + -(grid_size_z / 2) * cell_width, + ) + + for i in grid_size_x: + for j in grid_size_z: + var cell_position = Vector3(i * cell_width, 0.0, j * cell_width) + shift + _create_cell(i, j, cell_position) + + +func _create_cell(i: int, j: int, position: Vector3): + var cell := Area3D.new() + cell.position = position + cell.name = "GridCell %s %s" % [i, j] + + if collide_with_areas: + cell.area_entered.connect(_on_cell_area_entered.bind(i, j)) + cell.area_exited.connect(_on_cell_area_exited.bind(i, j)) + + if collide_with_bodies: + cell.body_entered.connect(_on_cell_body_entered.bind(i, j)) + cell.body_exited.connect(_on_cell_body_exited.bind(i, j)) + +# cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j)) +# cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j)) + + cell.collision_layer = 0 + cell.collision_mask = detection_mask + cell.monitorable = true + cell.input_ray_pickable = false + add_child(cell) + cell.set_owner(get_tree().edited_scene_root) + + var col_shape := CollisionShape3D.new() + col_shape.shape = _box_shape + col_shape.name = "CollisionShape3D" + cell.add_child(col_shape) + col_shape.set_owner(get_tree().edited_scene_root) + + if debug_view: + var box = MeshInstance3D.new() + box.name = "MeshInstance3D" + var box_mesh = BoxMesh.new() + + box_mesh.set_size(Vector3(cell_width, cell_height, cell_width)) + box_mesh.material = _standard_box_material + + box.mesh = box_mesh + cell.add_child(box) + box.set_owner(get_tree().edited_scene_root) + + +func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool): + for key in _collision_mapping: + var bit_mask = 2 ** key + if (collision_layer & bit_mask) > 0: + var collison_map_index = _collision_mapping[key] + + var obs_index = ( + (cell_i * grid_size_x * _n_layers_per_cell) + + (cell_j * _n_layers_per_cell) + + collison_map_index + ) + #prints(obs_index, cell_i, cell_j) + if entered: + _obs_buffer[obs_index] += 1 + else: + _obs_buffer[obs_index] -= 1 + + +func _toggle_cell(cell_i: int, cell_j: int): + var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j]) + + if cell == null: + print("cell not found, returning") + + var n_hits = 0 + var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell) + for i in _n_layers_per_cell: + n_hits += _obs_buffer[start_index + i] + + var cell_mesh = cell.get_node_or_null("MeshInstance3D") + if n_hits > 0: + cell_mesh.mesh.material = _highlighted_box_material + else: + cell_mesh.mesh.material = _standard_box_material + + +func _on_cell_area_entered(area: Area3D, cell_i: int, cell_j: int): + #prints("_on_cell_area_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + #print(_obs_buffer) + + +func _on_cell_area_exited(area: Area3D, cell_i: int, cell_j: int): + #prints("_on_cell_area_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_entered(body: Node3D, cell_i: int, cell_j: int): + #prints("_on_cell_body_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_exited(body: Node3D, cell_i: int, cell_j: int): + #prints("_on_cell_body_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..aca3c2db480c5f61058d565ae4652916af4c51ad --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd @@ -0,0 +1,25 @@ +extends Node3D +class_name ISensor3D + +var _obs: Array = [] +var _active := false + + +func get_observation(): + pass + + +func activate(): + _active = true + + +func deactivate(): + _active = false + + +func _update_observation(): + pass + + +func reset(): + pass diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..1037e970c3dccd26c6b987533115d12fca790549 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd @@ -0,0 +1,21 @@ +extends Node3D +class_name RGBCameraSensor3D +var camera_pixels = null + +@onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D +@onready var sub_viewport := $SubViewport as SubViewport + + +func get_camera_pixel_encoding(): + return camera_texture.get_texture().get_image().get_data().hex_encode() + + +func get_camera_shape() -> Array: + assert( + sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36, + "SubViewport size must be 36x36 or larger." + ) + if sub_viewport.transparent_bg: + return [4, sub_viewport.size.y, sub_viewport.size.x] + else: + return [3, sub_viewport.size.y, sub_viewport.size.x] diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..052b5577db16ab7d25f5f473a539b3099f400db8 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn @@ -0,0 +1,41 @@ +[gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" id="1"] + +[sub_resource type="ViewportTexture" id="1"] +viewport_path = NodePath("SubViewport") + +[node name="RGBCameraSensor3D" type="Node3D"] +script = ExtResource("1") + +[node name="RemoteTransform3D" type="RemoteTransform3D" parent="."] +remote_path = NodePath("../SubViewport/Camera3D") + +[node name="SubViewport" type="SubViewport" parent="."] +size = Vector2i(32, 32) +render_target_update_mode = 3 + +[node name="Camera3D" type="Camera3D" parent="SubViewport"] +near = 0.5 + +[node name="Control" type="Control" parent="."] +layout_mode = 3 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +grow_horizontal = 2 +grow_vertical = 2 + +[node name="TextureRect" type="ColorRect" parent="Control"] +layout_mode = 0 +offset_left = 1096.0 +offset_top = 534.0 +offset_right = 1114.0 +offset_bottom = 552.0 +scale = Vector2(10, 10) +color = Color(0.00784314, 0.00784314, 0.00784314, 1) + +[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"] +texture = SubResource("1") +offset = Vector2(9, 9) +flip_v = true diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..1357529f9232c3323316212cc84042bde1afb6f2 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd @@ -0,0 +1,185 @@ +@tool +extends ISensor3D +class_name RayCastSensor3D +@export_flags_3d_physics var collision_mask = 1: + get: + return collision_mask + set(value): + collision_mask = value + _update() +@export_flags_3d_physics var boolean_class_mask = 1: + get: + return boolean_class_mask + set(value): + boolean_class_mask = value + _update() + +@export var n_rays_width := 6.0: + get: + return n_rays_width + set(value): + n_rays_width = value + _update() + +@export var n_rays_height := 6.0: + get: + return n_rays_height + set(value): + n_rays_height = value + _update() + +@export var ray_length := 10.0: + get: + return ray_length + set(value): + ray_length = value + _update() + +@export var cone_width := 60.0: + get: + return cone_width + set(value): + cone_width = value + _update() + +@export var cone_height := 60.0: + get: + return cone_height + set(value): + cone_height = value + _update() + +@export var collide_with_areas := false: + get: + return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := true: + get: + return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export var class_sensor := false + +var rays := [] +var geo = null + + +func _update(): + if Engine.is_editor_hint(): + if is_node_ready(): + _spawn_nodes() + + +func _ready() -> void: + if Engine.is_editor_hint(): + if get_child_count() == 0: + _spawn_nodes() + else: + _spawn_nodes() + + +func _spawn_nodes(): + print("spawning nodes") + for ray in get_children(): + ray.queue_free() + if geo: + geo.clear() + #$Lines.remove_points() + rays = [] + + var horizontal_step = cone_width / (n_rays_width) + var vertical_step = cone_height / (n_rays_height) + + var horizontal_start = horizontal_step / 2 - cone_width / 2 + var vertical_start = vertical_step / 2 - cone_height / 2 + + var points = [] + + for i in n_rays_width: + for j in n_rays_height: + var angle_w = horizontal_start + i * horizontal_step + var angle_h = vertical_start + j * vertical_step + #angle_h = 0.0 + var ray = RayCast3D.new() + var cast_to = to_spherical_coords(ray_length, angle_w, angle_h) + ray.set_target_position(cast_to) + + points.append(cast_to) + + ray.set_name("node_" + str(i) + " " + str(j)) + ray.enabled = true + ray.collide_with_bodies = collide_with_bodies + ray.collide_with_areas = collide_with_areas + ray.collision_mask = collision_mask + add_child(ray) + ray.set_owner(get_tree().edited_scene_root) + rays.append(ray) + ray.force_raycast_update() + + +# if Engine.editor_hint: +# _create_debug_lines(points) + + +func _create_debug_lines(points): + if not geo: + geo = ImmediateMesh.new() + add_child(geo) + + geo.clear() + geo.begin(Mesh.PRIMITIVE_LINES) + for point in points: + geo.set_color(Color.AQUA) + geo.add_vertex(Vector3.ZERO) + geo.add_vertex(point) + geo.end() + + +func display(): + if geo: + geo.display() + + +func to_spherical_coords(r, inc, azimuth) -> Vector3: + return Vector3( + r * sin(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)), + r * sin(deg_to_rad(azimuth)), + r * cos(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)) + ) + + +func get_observation() -> Array: + return self.calculate_raycasts() + + +func calculate_raycasts() -> Array: + var result = [] + for ray in rays: + ray.set_enabled(true) + ray.force_raycast_update() + var distance = _get_raycast_distance(ray) + + result.append(distance) + if class_sensor: + var hit_class: float = 0 + if ray.get_collider(): + var hit_collision_layer = ray.get_collider().collision_layer + hit_collision_layer = hit_collision_layer & collision_mask + hit_class = (hit_collision_layer & boolean_class_mask) > 0 + result.append(float(hit_class)) + ray.set_enabled(false) + return result + + +func _get_raycast_distance(ray: RayCast3D) -> float: + if !ray.is_colliding(): + return 0.0 + + var distance = (global_transform.origin - ray.get_collision_point()).length() + distance = clamp(distance, 0.0, ray_length) + return (ray_length - distance) / ray_length diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn new file mode 100644 index 0000000000000000000000000000000000000000..35f9796596b2fb79bfcfe31e3d3a9637d9008e55 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn @@ -0,0 +1,27 @@ +[gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"] + +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="1"] + +[node name="RaycastSensor3D" type="Node3D"] +script = ExtResource("1") +n_rays_width = 4.0 +n_rays_height = 2.0 +ray_length = 11.0 + +[node name="node_1 0" type="RayCast3D" parent="."] +target_position = Vector3(-1.38686, -2.84701, 10.5343) + +[node name="node_1 1" type="RayCast3D" parent="."] +target_position = Vector3(-1.38686, 2.84701, 10.5343) + +[node name="node_2 0" type="RayCast3D" parent="."] +target_position = Vector3(1.38686, -2.84701, 10.5343) + +[node name="node_2 1" type="RayCast3D" parent="."] +target_position = Vector3(1.38686, 2.84701, 10.5343) + +[node name="node_3 0" type="RayCast3D" parent="."] +target_position = Vector3(4.06608, -2.84701, 9.81639) + +[node name="node_3 1" type="RayCast3D" parent="."] +target_position = Vector3(4.06608, 2.84701, 9.81639) diff --git a/addons/godot_rl_agents/sync.gd b/addons/godot_rl_agents/sync.gd new file mode 100644 index 0000000000000000000000000000000000000000..ed9cf0a9c0baf9a512bf1536b4f92544b29aa9e1 --- /dev/null +++ b/addons/godot_rl_agents/sync.gd @@ -0,0 +1,540 @@ +extends Node + +# --fixed-fps 2000 --disable-render-loop + +enum ControlModes { HUMAN, TRAINING, ONNX_INFERENCE } +@export var control_mode: ControlModes = ControlModes.TRAINING +@export_range(1, 10, 1, "or_greater") var action_repeat := 8 +@export_range(0, 10, 0.1, "or_greater") var speed_up := 1.0 +@export var onnx_model_path := "" + +# Onnx model stored for each requested path +var onnx_models: Dictionary + +@onready var start_time = Time.get_ticks_msec() + +const MAJOR_VERSION := "0" +const MINOR_VERSION := "7" +const DEFAULT_PORT := "11008" +const DEFAULT_SEED := "1" +var stream: StreamPeerTCP = null +var connected = false +var message_center +var should_connect = true + +var all_agents: Array +var agents_training: Array +var agents_inference: Array +var agents_heuristic: Array + +## For recording expert demos +var agent_demo_record: Node +## Stores recorded trajectories +var demo_trajectories: Array +## A trajectory includes obs: Array, acts: Array, terminal (set in Python env instead) +var current_demo_trajectory: Array + +var need_to_send_obs = false +var args = null +var initialized = false +var just_reset = false +var onnx_model = null +var n_action_steps = 0 + +var _action_space: Dictionary +var _action_space_inference: Array[Dictionary] = [] +var _obs_space: Dictionary + + +# Called when the node enters the scene tree for the first time. +func _ready(): + await get_tree().root.ready + get_tree().set_pause(true) + _initialize() + await get_tree().create_timer(1.0).timeout + get_tree().set_pause(false) + + +func _initialize(): + _get_agents() + args = _get_args() + Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body. + Engine.time_scale = _get_speedup() * 1.0 + prints( + "physics ticks", + Engine.physics_ticks_per_second, + Engine.time_scale, + _get_speedup(), + speed_up + ) + + _set_heuristic("human", all_agents) + + _initialize_training_agents() + _initialize_inference_agents() + _initialize_demo_recording() + + _set_seed() + _set_action_repeat() + initialized = true + + +func _initialize_training_agents(): + if agents_training.size() > 0: + _obs_space = agents_training[0].get_obs_space() + _action_space = agents_training[0].get_action_space() + connected = connect_to_server() + if connected: + _set_heuristic("model", agents_training) + _handshake() + _send_env_info() + else: + push_warning( + "Couldn't connect to Python server, using human controls instead. ", + "Did you start the training server using e.g. `gdrl` from the console?" + ) + + +func _initialize_inference_agents(): + if agents_inference.size() > 0: + if control_mode == ControlModes.ONNX_INFERENCE: + assert( + FileAccess.file_exists(onnx_model_path), + "Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path + ) + onnx_models[onnx_model_path] = ONNXModel.new(onnx_model_path, 1) + + for agent in agents_inference: + _action_space_inference.append(agent.get_action_space()) + + var agent_onnx_model: ONNXModel + if agent.onnx_model_path.is_empty(): + assert( + onnx_models.has(onnx_model_path), + ( + "Node %s has no onnx model path set " % agent.get_path() + + "and sync node's control mode is not set to OnnxInference. " + + "Either add the path to the AIController, " + + "or if you want to use the path set on sync node instead, " + + "set control mode to OnnxInference." + ) + ) + prints( + "Info: AIController %s" % agent.get_path(), + "has no onnx model path set.", + "Using path set on the sync node instead." + ) + agent_onnx_model = onnx_models[onnx_model_path] + else: + if not onnx_models.has(agent.onnx_model_path): + assert( + FileAccess.file_exists(agent.onnx_model_path), + ( + "Onnx Model Path set on %s node does not exist: %s" + % [agent.get_path(), agent.onnx_model_path] + ) + ) + onnx_models[agent.onnx_model_path] = ONNXModel.new(agent.onnx_model_path, 1) + agent_onnx_model = onnx_models[agent.onnx_model_path] + + agent.onnx_model = agent_onnx_model + _set_heuristic("model", agents_inference) + + +func _initialize_demo_recording(): + if agent_demo_record: + InputMap.add_action("RemoveLastDemoEpisode") + InputMap.action_add_event( + "RemoveLastDemoEpisode", agent_demo_record.remove_last_episode_key + ) + current_demo_trajectory.resize(2) + current_demo_trajectory[0] = [] + current_demo_trajectory[1] = [] + agent_demo_record.heuristic = "demo_record" + + +func _physics_process(_delta): + # two modes, human control, agent control + # pause tree, send obs, get actions, set actions, unpause tree + + _demo_record_process() + + if n_action_steps % action_repeat != 0: + n_action_steps += 1 + return + + n_action_steps += 1 + + _training_process() + _inference_process() + _heuristic_process() + + +func _training_process(): + if connected: + get_tree().set_pause(true) + + if just_reset: + just_reset = false + var obs = _get_obs_from_agents(agents_training) + + var reply = {"type": "reset", "obs": obs} + _send_dict_as_json_message(reply) + # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick + get_tree().set_pause(false) + return + + if need_to_send_obs: + need_to_send_obs = false + var reward = _get_reward_from_agents() + var done = _get_done_from_agents() + #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR + + var obs = _get_obs_from_agents(agents_training) + + var reply = {"type": "step", "obs": obs, "reward": reward, "done": done} + _send_dict_as_json_message(reply) + + var handled = handle_message() + + +func _inference_process(): + if agents_inference.size() > 0: + var obs: Array = _get_obs_from_agents(agents_inference) + var actions = [] + + for agent_id in range(0, agents_inference.size()): + var action = agents_inference[agent_id].onnx_model.run_inference( + obs[agent_id]["obs"], 1.0 + ) + action["output"] = clamp_array(action["output"], -1.0, 1.0) + var action_dict = _extract_action_dict( + action["output"], _action_space_inference[agent_id] + ) + actions.append(action_dict) + + _set_agent_actions(actions, agents_inference) + _reset_agents_if_done(agents_inference) + get_tree().set_pause(false) + + +func _demo_record_process(): + if not agent_demo_record: + return + + if Input.is_action_just_pressed("RemoveLastDemoEpisode"): + print("[Sync script][Demo recorder] Removing last recorded episode.") + demo_trajectories.remove_at(demo_trajectories.size() - 1) + print("Remaining episode count: %d" % demo_trajectories.size()) + + if n_action_steps % agent_demo_record.action_repeat != 0: + return + + var obs_dict: Dictionary = agent_demo_record.get_obs() + + # Get the current obs from the agent + assert( + obs_dict.has("obs"), + "Demo recorder needs an 'obs' key in get_obs() returned dictionary to record obs from." + ) + current_demo_trajectory[0].append(obs_dict.obs) + + # Get the action applied for the current obs from the agent + agent_demo_record.set_action() + var acts = agent_demo_record.get_action() + + var terminal = agent_demo_record.get_done() + # Record actions only for non-terminal states + if terminal: + agent_demo_record.set_done_false() + else: + current_demo_trajectory[1].append(acts) + + if terminal: + #current_demo_trajectory[2].append(true) + demo_trajectories.append(current_demo_trajectory.duplicate(true)) + print("[Sync script][Demo recorder] Recorded episode count: %d" % demo_trajectories.size()) + current_demo_trajectory[0].clear() + current_demo_trajectory[1].clear() + + +func _heuristic_process(): + for agent in agents_heuristic: + _reset_agents_if_done(agents_heuristic) + + +func _extract_action_dict(action_array: Array, action_space: Dictionary): + var index = 0 + var result = {} + for key in action_space.keys(): + var size = action_space[key]["size"] + if action_space[key]["action_type"] == "discrete": + result[key] = round(action_array[index]) + else: + result[key] = action_array.slice(index, index + size) + index += size + + return result + + +## For AIControllers that inherit mode from sync, sets the correct mode. +func _set_agent_mode(agent: Node): + var agent_inherits_mode: bool = agent.control_mode == agent.ControlModes.INHERIT_FROM_SYNC + + if agent_inherits_mode: + match control_mode: + ControlModes.HUMAN: + agent.control_mode = agent.ControlModes.HUMAN + ControlModes.TRAINING: + agent.control_mode = agent.ControlModes.TRAINING + ControlModes.ONNX_INFERENCE: + agent.control_mode = agent.ControlModes.ONNX_INFERENCE + + +func _get_agents(): + all_agents = get_tree().get_nodes_in_group("AGENT") + for agent in all_agents: + _set_agent_mode(agent) + + if agent.control_mode == agent.ControlModes.TRAINING: + agents_training.append(agent) + elif agent.control_mode == agent.ControlModes.ONNX_INFERENCE: + agents_inference.append(agent) + elif agent.control_mode == agent.ControlModes.HUMAN: + agents_heuristic.append(agent) + elif agent.control_mode == agent.ControlModes.RECORD_EXPERT_DEMOS: + assert( + not agent_demo_record, + "Currently only a single AIController can be used for recording expert demos." + ) + agent_demo_record = agent + + +func _set_heuristic(heuristic, agents: Array): + for agent in agents: + agent.set_heuristic(heuristic) + + +func _handshake(): + print("performing handshake") + + var json_dict = _get_dict_json_message() + assert(json_dict["type"] == "handshake") + var major_version = json_dict["major_version"] + var minor_version = json_dict["minor_version"] + if major_version != MAJOR_VERSION: + print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION) + if minor_version != MINOR_VERSION: + print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION) + + print("handshake complete") + + +func _get_dict_json_message(): + # returns a dictionary from of the most recent message + # this is not waiting + while stream.get_available_bytes() == 0: + stream.poll() + if stream.get_status() != 2: + print("server disconnected status, closing") + get_tree().quit() + return null + + OS.delay_usec(10) + + var message = stream.get_string() + var json_data = JSON.parse_string(message) + + return json_data + + +func _send_dict_as_json_message(dict): + stream.put_string(JSON.stringify(dict, "", false)) + + +func _send_env_info(): + var json_dict = _get_dict_json_message() + assert(json_dict["type"] == "env_info") + + var message = { + "type": "env_info", + "observation_space": _obs_space, + "action_space": _action_space, + "n_agents": len(agents_training) + } + _send_dict_as_json_message(message) + + +func connect_to_server(): + print("Waiting for one second to allow server to start") + OS.delay_msec(1000) + print("trying to connect to server") + stream = StreamPeerTCP.new() + + # "localhost" was not working on windows VM, had to use the IP + var ip = "127.0.0.1" + var port = _get_port() + var connect = stream.connect_to_host(ip, port) + stream.set_no_delay(true) # TODO check if this improves performance or not + stream.poll() + # Fetch the status until it is either connected (2) or failed to connect (3) + while stream.get_status() < 2: + stream.poll() + return stream.get_status() == 2 + + +func _get_args(): + print("getting command line arguments") + var arguments = {} + for argument in OS.get_cmdline_args(): + print(argument) + if argument.find("=") > -1: + var key_value = argument.split("=") + arguments[key_value[0].lstrip("--")] = key_value[1] + else: + # Options without an argument will be present in the dictionary, + # with the value set to an empty string. + arguments[argument.lstrip("--")] = "" + + return arguments + + +func _get_speedup(): + print(args) + return args.get("speedup", str(speed_up)).to_float() + + +func _get_port(): + return args.get("port", DEFAULT_PORT).to_int() + + +func _set_seed(): + var _seed = args.get("env_seed", DEFAULT_SEED).to_int() + seed(_seed) + + +func _set_action_repeat(): + action_repeat = args.get("action_repeat", str(action_repeat)).to_int() + + +func disconnect_from_server(): + stream.disconnect_from_host() + + +func handle_message() -> bool: + # get json message: reset, step, close + var message = _get_dict_json_message() + if message["type"] == "close": + print("received close message, closing game") + get_tree().quit() + get_tree().set_pause(false) + return true + + if message["type"] == "reset": + print("resetting all agents") + _reset_agents() + just_reset = true + get_tree().set_pause(false) + #print("resetting forcing draw") +# RenderingServer.force_draw() +# var obs = _get_obs_from_agents() +# print("obs ", obs) +# var reply = { +# "type": "reset", +# "obs": obs +# } +# _send_dict_as_json_message(reply) + return true + + if message["type"] == "call": + var method = message["method"] + var returns = _call_method_on_agents(method) + var reply = {"type": "call", "returns": returns} + print("calling method from Python") + _send_dict_as_json_message(reply) + return handle_message() + + if message["type"] == "action": + var action = message["action"] + _set_agent_actions(action, agents_training) + need_to_send_obs = true + get_tree().set_pause(false) + return true + + print("message was not handled") + return false + + +func _call_method_on_agents(method): + var returns = [] + for agent in all_agents: + returns.append(agent.call(method)) + + return returns + + +func _reset_agents_if_done(agents = all_agents): + for agent in agents: + if agent.get_done(): + agent.set_done_false() + + +func _reset_agents(agents = all_agents): + for agent in agents: + agent.needs_reset = true + #agent.reset() + + +func _get_obs_from_agents(agents: Array = all_agents): + var obs = [] + for agent in agents: + obs.append(agent.get_obs()) + return obs + + +func _get_reward_from_agents(agents: Array = agents_training): + var rewards = [] + for agent in agents: + rewards.append(agent.get_reward()) + agent.zero_reward() + return rewards + + +func _get_done_from_agents(agents: Array = agents_training): + var dones = [] + for agent in agents: + var done = agent.get_done() + if done: + agent.set_done_false() + dones.append(done) + return dones + + +func _set_agent_actions(actions, agents: Array = all_agents): + for i in range(len(actions)): + agents[i].set_action(actions[i]) + + +func clamp_array(arr: Array, min: float, max: float): + var output: Array = [] + for a in arr: + output.append(clamp(a, min, max)) + return output + + +## Save recorded export demos on window exit (Close window instead of "Stop" button in Godot Editor) +func _notification(what): + if not agent_demo_record: + return + + if what == NOTIFICATION_PREDELETE: + var json_string = JSON.stringify(demo_trajectories, "", false) + var file = FileAccess.open(agent_demo_record.expert_demo_save_path, FileAccess.WRITE) + + if not file: + var error: Error = FileAccess.get_open_error() + assert(not error, "There was an error opening the file: %d" % error) + + file.store_line(json_string) + var error = file.get_error() + assert(not error, "There was an error after trying to write to the file: %d" % error) diff --git a/asset-license.md b/asset-license.md new file mode 100644 index 0000000000000000000000000000000000000000..9c8b461b966ef0e713ee419d99ad618e63fb0e8e --- /dev/null +++ b/asset-license.md @@ -0,0 +1,5 @@ +Robot Volleyball Environment made by Ivan-267 using Godot, Godot RL Agents, and Blender. + +The following license is only for the assets (.blend files and .png files) in the folder "blender" and "sky.exr" file in the folder "textures": +Author: https://github.com/Ivan-267 +License: https://creativecommons.org/licenses/by/4.0/ \ No newline at end of file diff --git a/blender/grass.png b/blender/grass.png new file mode 100644 index 0000000000000000000000000000000000000000..da288361730ccadbac95a344e3b44c6ee4589c42 --- /dev/null +++ b/blender/grass.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:814d1330279a614636d5ed10bf0c906d1054d4c0f64cda93a35fda78bf3e6844 +size 57940 diff --git a/blender/grass.png.import b/blender/grass.png.import new file mode 100644 index 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index 0000000000000000000000000000000000000000..52fd90468a5ff8007f4725b58958223bf00dcff9 --- /dev/null +++ b/blender/static_decorations.blend @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed8b8c79a7bbf057c6b1964854079a33ffd232f55bd5f7f98ecdd9489b7e20b3 +size 1223728 diff --git a/blender/static_decorations.blend.import b/blender/static_decorations.blend.import new file mode 100644 index 0000000000000000000000000000000000000000..bf44e7fc9932814c7cff07c2cb45561f7694a6ed --- /dev/null +++ b/blender/static_decorations.blend.import @@ -0,0 +1,50 @@ +[remap] + +importer="scene" +importer_version=1 +type="PackedScene" +uid="uid://crjcvbws8ufmj" +path="res://.godot/imported/static_decorations.blend-3cedede138a358d5281e8d83b3ae557b.scn" + +[deps] + +source_file="res://blender/static_decorations.blend" +dest_files=["res://.godot/imported/static_decorations.blend-3cedede138a358d5281e8d83b3ae557b.scn"] + +[params] + +nodes/root_type="" +nodes/root_name="" 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+blender/animation/group_tracks=true 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/icon.svg.import b/icon.svg.import new file mode 100644 index 0000000000000000000000000000000000000000..797e0007c8c0bb03544a7e6f80ce4b902c811bd6 --- /dev/null +++ b/icon.svg.import @@ -0,0 +1,37 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://bldutp5f6tmtx" +path="res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex" +metadata={ +"vram_texture": false +} + +[deps] + +source_file="res://icon.svg" +dest_files=["res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"] + +[params] + +compress/mode=0 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=false +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=1 +svg/scale=1.0 +editor/scale_with_editor_scale=false +editor/convert_colors_with_editor_theme=false diff --git a/onnx/volleyball.onnx b/onnx/volleyball.onnx new file mode 100644 index 0000000000000000000000000000000000000000..ebd6e01f961226d74d850b53972cbcf83e3f7162 --- /dev/null +++ b/onnx/volleyball.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33e71a5aa6421ae9c92af5d3bd83bca25854ae46bac607ae56bb731ce219a577 +size 23502 diff --git a/project.godot b/project.godot new file mode 100644 index 0000000000000000000000000000000000000000..bd9d950250e46aacb02df21ee04aa067a8c24f1f --- /dev/null +++ b/project.godot @@ -0,0 +1,58 @@ +; 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="RobotVolleyball" +run/main_scene="res://scenes/training_scene/training_scene.tscn" +config/features=PackedStringArray("4.2", "C#", "Forward Plus") +config/icon="res://icon.svg" + +[display] + +window/size/mode=4 + +[dotnet] + +project/assembly_name="RobotVolleyball" + +[editor_plugins] + +enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg") + +[input] + +move_left={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194319,"key_label":0,"unicode":0,"echo":false,"script":null) +, Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"button_index":13,"pressure":0.0,"pressed":true,"script":null) +] +} +move_right={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"key_label":0,"unicode":0,"echo":false,"script":null) +, Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"button_index":14,"pressure":0.0,"pressed":true,"script":null) +] +} +jump={ +"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":32,"key_label":0,"unicode":32,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"echo":false,"script":null) +, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194320,"key_label":0,"unicode":0,"echo":false,"script":null) +, Object(InputEventJoypadButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"button_index":0,"pressure":0.0,"pressed":true,"script":null) +] +} + +[physics] + +3d/default_linear_damp=0.0 +3d/default_angular_damp=0.0 diff --git a/readme.md b/readme.md new file mode 100644 index 0000000000000000000000000000000000000000..b8432dc63da9ff76f666f74ab9870ee3f6839d5b --- /dev/null +++ b/readme.md @@ -0,0 +1,63 @@ +## Robot Volleyball + +A simple minigame arcade-style Volleyball example with AI vs AI and Human VS AI modes. + +### Observations: +- Position of the ball in robot's local reference, +- Position of the ball in the robot's goal's local reference (to tell on what side of the field the ball is in), +- Velocity of the robot in robot's local reference, +- Velocity of the ball in robot's local reference, +- Whether the jump sensor is colliding (which means that the robot can jump), +- Whether the robot is serving, +- Whether the ball has been served, +- Hit count of the ball in a row (hitting the ball more than 2 times in a row by the same robot causes a fault), +- How many steps has passed without hitting the ball (only counted if serving, there is a time limit in that case). + +### Action space: +```gdscript +func get_action_space() -> Dictionary: + return { + "jump": {"size": 1, "action_type": "continuous"}, + "movement": {"size": 1, "action_type": "continuous"} + } +``` + +### Rewards: +- Positive reward for hitting the ball once when serving, +- Negative reward if the same robot hits the ball more than 2 times in a row, +- Negative reward if the ball hits the robots own goal + +### Game over / episode end conditions: +In infinite game mode or training mode, there are no specified end conditions. +It's possible to disable these modes in the GameScene node in which case a winner will be announced, +and the scores will be restarted, after a certain amount of points is reached. + +### Running inference: +#### AI vs AI +Open the scene `res://scenes/testing_scenes/ai_vs_ai.tscn` in Godot Editor, and press `F6` or click on `Run Current Scene`. + +#### Human vs AI +To play VS the AI, open the scene `res://scenes/testing_scenes/human_vs_ai.tscn` in Godot Editor, and press `F6` or click on `Run Current Scene`. + +Controls (you can adjust them in Project Settings in Godot Editor): + +![Volleyball Controls](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/26809560-815d-4d8e-b3ea-2f539a9e1fa3) + +### Training: +The default scene `res://scenes/training_scene/training_scene.tscn` can be used for training. + +These were the parameters used to train the included onnx file (they can be applied by modifying [stable_baselines3_example.py](https://github.com/edbeeching/godot_rl_agents/blob/main/examples/stable_baselines3_example.py)): +```python + policy_kwargs = dict(log_std_init=log(1.0)) + model: PPO = PPO("MultiInputPolicy", env, verbose=1, n_epochs=10, learning_rate=0.0003, clip_range=0.2, ent_coef=0.0085, n_steps=128, batch_size=160, policy_kwargs=policy_kwargs, tensorboard_log=args.experiment_dir) +``` + +The arguments provided to the example for training were (feel free to adjust these): +```bash +--timesteps=6_500_000 +--n_parallel=5 +--speedup=15 +--env_path=[write the path to exported exe file here or remove this and n_parallel above for in-editor training] +--onnx_export_path=volleyball.onnx +``` + diff --git a/scenes/game_scene/ball.gd b/scenes/game_scene/ball.gd new file mode 100644 index 0000000000000000000000000000000000000000..a906cbddc560b2dbeb865e3339c28f4033936bc1 --- /dev/null +++ b/scenes/game_scene/ball.gd @@ -0,0 +1,34 @@ +extends RigidBody3D +class_name Ball + +@export var max_velocity: float = 8.0 + +var is_resetting: bool +var ball_served: bool +var new_position: Vector3 + + +func _integrate_forces(state): + state.linear_velocity = state.linear_velocity.limit_length(max_velocity) + + +func reset(position_after_reset: Vector3): + ball_served = false + is_resetting = true + gravity_scale = 0 + linear_velocity = Vector3.ZERO + angular_velocity = Vector3.ZERO + global_position = position_after_reset + new_position = position_after_reset + + +func _on_body_entered(body): + if ball_served: + return + + var player = body as Robot + + if player and player.ai_controller.is_serving and not ball_served: + ball_served = true + player.ai_controller.is_serving = false + gravity_scale = 1.45 diff --git a/scenes/game_scene/game_manager.gd b/scenes/game_scene/game_manager.gd new file mode 100644 index 0000000000000000000000000000000000000000..cc952f49581f4745a638184db28a724417cd8bdd --- /dev/null +++ b/scenes/game_scene/game_manager.gd @@ -0,0 +1,127 @@ +## TODO: Try not ending episodes, just giving the rewards. + +extends Node3D +class_name GameManager + +@export var players: Array[Robot] + +## Training mode disables UI and game-resetting +@export var training_mode: bool = true +## Applies if the training mode is disabled +@export var infinite_game: bool = true +## Applies if the training mode is disabled +@export var victory_at_score: int = 11 +@export var ui: UI + +var ball_hit_in_row_count: int +var last_ball_hit_player: Robot + +@onready var ball = $Ball + +var game_just_reset: bool = false + + +func get_hit_ball_count(robot: Robot): + if last_ball_hit_player != robot: + return 0.0 + return ball_hit_in_row_count / 2.0 + + +func _ready(): + for player in players: + player.ball = ball + player.game_manager = self + activate_game_reset() + + +func _physics_process(_delta): + if ball.global_position.y < -2: + activate_game_reset() + + if game_just_reset and not training_mode: + reset_ball(players.pick_random()) + process_mode = Node.PROCESS_MODE_DISABLED + ui.show_get_ready_text(3) + await get_tree().create_timer(3, true, true).timeout + game_just_reset = false + + for player in players: + player = player as Robot + player.score = 0 + player.global_position = player.initial_position + player.linear_velocity = Vector3.ZERO + + ball_hit_in_row_count = 0 + process_mode = Node.PROCESS_MODE_ALWAYS + + +func _on_ball_body_entered(body): + var player = body as Robot + if player: + if not ball.ball_served: + player.ai_controller.reward += 1.0 + + if last_ball_hit_player == player: + ball_hit_in_row_count += 1 + else: + ball_hit_in_row_count = 1 + last_ball_hit_player = player + + if ball_hit_in_row_count > 2: + player.ai_controller.reward -= 1.0 + player.other_player.score += 1 + reset_ball(player.other_player) + + +func handle_goal_hit(goal: Area3D): + for player in players: + if player.goal == goal: + player.ai_controller.reward -= 1.0 + player.other_player.score += 1 + reset_ball(player.other_player) + + +func calc_ball_position(player: Robot): + return player.initial_position + Vector3.UP * 1.1 + Vector3.RIGHT * randf_range(-0.5, 0.5) + + +func _on_goal_ball_entered(goal): + handle_goal_hit(goal) + + +func reset_ball(player: Robot): + handle_victory(player) + ball_hit_in_row_count = 0 + ball.ball_served = false + player.ai_controller.is_serving = true + player.other_player.ai_controller.is_serving = false + + for robot in players: + robot.ai_controller.steps_without_ball_hit_while_serving = 0 + + ball.reset(calc_ball_position(player)) + + +func handle_victory(potential_winner: Robot): + if training_mode: + return + + if check_if_game_winner(potential_winner): + if potential_winner.ai_controller.control_mode == AIController3D.ControlModes.HUMAN: + ui.show_winner_text("Player", 3) + else: + ui.show_winner_text(potential_winner.name, 3) + activate_game_reset() + + +func check_if_game_winner(robot: Robot): + if infinite_game: + return + + if robot.score >= victory_at_score: + return true + return false + + +func activate_game_reset(): + game_just_reset = true diff --git a/scenes/game_scene/game_scene.tscn b/scenes/game_scene/game_scene.tscn new file mode 100644 index 0000000000000000000000000000000000000000..048a3f315470e0b58c7065841c34854f92f24de3 --- /dev/null +++ b/scenes/game_scene/game_scene.tscn @@ -0,0 +1,377 @@ +[gd_scene load_steps=36 format=3 uid="uid://2x5filmso32a"] + +[ext_resource type="Script" path="res://scenes/game_scene/game_manager.gd" id="1_g4wvl"] +[ext_resource type="Script" path="res://scenes/game_scene/goal.gd" id="2_ypwf4"] +[ext_resource type="PackedScene" uid="uid://3gt386v3b1ej" path="res://scenes/robot/robot.tscn" id="3_y4pr4"] +[ext_resource type="Shader" uid="uid://der346ayua0mt" path="res://shaders/sway.tres" id="4_dl2k6"] +[ext_resource type="PackedScene" uid="uid://bfwxkao4uhtdy" path="res://blender/static_decorations.blend" id="5_5d1h1"] +[ext_resource type="Texture2D" uid="uid://7pxcpp75142j" path="res://blender/grass.png" id="5_kw2hd"] +[ext_resource type="Script" path="res://scenes/game_scene/ball.gd" id="5_xjnfp"] +[ext_resource type="Texture2D" uid="uid://cc7p54wl68umy" path="res://blender/grass2.png" id="6_oqveb"] +[ext_resource type="Texture2D" uid="uid://bqnr3brm7i4i7" path="res://blender/grass3.png" id="7_h2k6l"] + +[sub_resource type="Gradient" id="Gradient_0rod8"] +colors = PackedColorArray(0.683594, 0.683594, 0.683594, 1, 1, 1, 1, 1) + +[sub_resource type="FastNoiseLite" id="FastNoiseLite_kgiw2"] +frequency = 0.1 + +[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_i1j55"] +color_ramp = SubResource("Gradient_0rod8") +noise = SubResource("FastNoiseLite_kgiw2") + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_si1yy"] +albedo_color = Color(0.729412, 0.670588, 0.0352941, 1) +albedo_texture = SubResource("NoiseTexture2D_i1j55") + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_v4edw"] +albedo_color = Color(1, 0.6, 0, 1) + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_tsppj"] +transparency = 1 +albedo_color = Color(0.0156863, 0.627451, 0.721569, 0.211765) +metallic = 0.85 +roughness = 0.0 + +[sub_resource type="BoxShape3D" id="BoxShape3D_20bsr"] +size = Vector3(10, 10, 5) + +[sub_resource type="BoxShape3D" id="BoxShape3D_nucsm"] +size = Vector3(10, 10, 5) + +[sub_resource type="BoxShape3D" id="BoxShape3D_7q7xm"] +size = Vector3(30, 20, 15) + +[sub_resource type="BoxShape3D" id="BoxShape3D_u865r"] +size = Vector3(0.2, 1.162, 2) + +[sub_resource type="CylinderShape3D" id="CylinderShape3D_ho4bs"] +radius = 0.1 + +[sub_resource type="BoxShape3D" id="BoxShape3D_efmyo"] +size = Vector3(3, 1, 2) + +[sub_resource type="Gradient" id="Gradient_epedm"] +colors = PackedColorArray(0.811765, 0.811765, 0.811765, 1, 1, 1, 1, 1) + +[sub_resource type="FastNoiseLite" id="FastNoiseLite_quakn"] +fractal_octaves = 4 +fractal_lacunarity = 7.155 +fractal_gain = 0.415 +fractal_weighted_strength = 0.5 + +[sub_resource type="NoiseTexture2D" id="NoiseTexture2D_vmvmy"] +width = 1280 +height = 1280 +color_ramp = SubResource("Gradient_epedm") +noise = SubResource("FastNoiseLite_quakn") + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_unsk7"] +albedo_color = Color(0, 0.517647, 0.0235294, 1) +albedo_texture = SubResource("NoiseTexture2D_vmvmy") + +[sub_resource type="PlaneMesh" id="PlaneMesh_o0rtt"] +size = Vector2(20, 20) + +[sub_resource type="ShaderMaterial" id="ShaderMaterial_ie7u0"] +resource_name = "grass" +render_priority = 0 +shader = ExtResource("4_dl2k6") +shader_parameter/albedo = Color(1, 1, 1, 1) +shader_parameter/point_size = 1.0 +shader_parameter/roughness = 0.5 +shader_parameter/metallic_texture_channel = null +shader_parameter/specular = 0.5 +shader_parameter/metallic = 0.0 +shader_parameter/uv1_scale = Vector3(1, 1, 1) +shader_parameter/uv1_offset = Vector3(0, 0, 0) +shader_parameter/uv2_scale = Vector3(1, 1, 1) +shader_parameter/uv2_offset = Vector3(0, 0, 0) +shader_parameter/sway_frequency = 1.0 +shader_parameter/sway_scale = 0.1 +shader_parameter/texture_albedo = ExtResource("5_kw2hd") + +[sub_resource type="ShaderMaterial" id="ShaderMaterial_pa0jt"] +resource_name = "grass2" +render_priority = 0 +shader = ExtResource("4_dl2k6") +shader_parameter/albedo = Color(1, 1, 1, 1) +shader_parameter/point_size = 1.0 +shader_parameter/roughness = 0.5 +shader_parameter/metallic_texture_channel = null +shader_parameter/specular = 0.5 +shader_parameter/metallic = 0.0 +shader_parameter/uv1_scale = Vector3(1, 1, 1) +shader_parameter/uv1_offset = Vector3(0, 0, 0) +shader_parameter/uv2_scale = Vector3(1, 1, 1) +shader_parameter/uv2_offset = Vector3(0, 0, 0) +shader_parameter/sway_frequency = 1.0 +shader_parameter/sway_scale = 0.1 +shader_parameter/texture_albedo = ExtResource("6_oqveb") + +[sub_resource type="ShaderMaterial" id="ShaderMaterial_og20f"] +resource_name = "grass3" +render_priority = 0 +shader = ExtResource("4_dl2k6") +shader_parameter/albedo = Color(1, 1, 1, 1) +shader_parameter/point_size = 1.0 +shader_parameter/roughness = 0.5 +shader_parameter/metallic_texture_channel = null +shader_parameter/specular = 0.5 +shader_parameter/metallic = 0.0 +shader_parameter/uv1_scale = Vector3(1, 1, 1) +shader_parameter/uv1_offset = Vector3(0, 0, 0) +shader_parameter/uv2_scale = Vector3(1, 1, 1) +shader_parameter/uv2_offset = Vector3(0, 0, 0) +shader_parameter/sway_frequency = 1.0 +shader_parameter/sway_scale = 0.1 +shader_parameter/texture_albedo = ExtResource("7_h2k6l") + +[sub_resource type="ArrayMesh" id="ArrayMesh_askja"] +_surfaces = [{ +"aabb": AABB(-8.41681, -0.240389, -8.58835, 17.0486, 0.943132, 17.8912), +"format": 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id="SphereMesh_3ng7x"] +radius = 0.235 +height = 0.469 + +[sub_resource type="SphereShape3D" id="SphereShape3D_sg3a8"] +margin = 0.455 +radius = 0.235 + +[node name="GameScene" type="Node3D" node_paths=PackedStringArray("players")] +script = ExtResource("1_g4wvl") +players = [NodePath("Robot"), NodePath("Robot2")] + +[node name="Field" type="Node3D" parent="."] + +[node name="Floor" type="CSGBox3D" parent="Field"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.0820313, 0) +size = Vector3(6, 0.164, 2) +material = SubResource("StandardMaterial3D_si1yy") + +[node name="Net" type="CSGPolygon3D" parent="Field/Floor"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.0451662, 1) +polygon = PackedVector2Array(-0.05, 0, -0.05, 1, -0.05, 1.03, -0.001, 1.04, 0.05, 1.03, 0.05, 1, 0.05, 0) +depth = 2.0 +material = SubResource("StandardMaterial3D_v4edw") + +[node name="Floor2" type="CSGBox3D" parent="Field"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 1) +material_override = SubResource("StandardMaterial3D_v4edw") +size = Vector3(6, 0.1, 0.1) + +[node name="Floor3" type="CSGBox3D" parent="Field"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -1) +material_override = SubResource("StandardMaterial3D_v4edw") +size = Vector3(6, 0.1, 0.1) + +[node name="Floor4" type="CSGBox3D" parent="Field"] +transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, 3, 0, 0) +material_override = SubResource("StandardMaterial3D_v4edw") +size = Vector3(2.1, 0.1, 0.1) + +[node name="Floor5" type="CSGBox3D" parent="Field"] +transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -3, 0, 0) +material_override = SubResource("StandardMaterial3D_v4edw") +size = Vector3(2.1, 0.1, 0.1) + +[node name="Wall" type="CSGBox3D" parent="Field"] +transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, 3, 1.95, 0) +material_override = SubResource("StandardMaterial3D_tsppj") +size = Vector3(2.1, 4, 0.1) + +[node name="Wall2" type="CSGBox3D" parent="Field"] +transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -3, 1.95, -2.62268e-07) +material_override = SubResource("StandardMaterial3D_tsppj") +size = Vector3(2.1, 4, 0.1) + +[node name="Wall3" type="CSGBox3D" parent="Field"] +transform = Transform3D(-4.37114e-08, 1, 4.37114e-08, 0, -4.37114e-08, 1, 1, 4.37114e-08, 0, 8.74228e-08, 3.95, 0) +material_override = SubResource("StandardMaterial3D_tsppj") +size = Vector3(2.1, 6.1, 0.1) + +[node name="FieldColliders" type="StaticBody3D" parent="Field"] + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Field/FieldColliders"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8, 0.5, 0) +shape = SubResource("BoxShape3D_20bsr") + +[node name="CollisionShape3D2" type="CollisionShape3D" parent="Field/FieldColliders"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8, 1.17, 0) +shape = SubResource("BoxShape3D_nucsm") + +[node name="CollisionShape3D5" type="CollisionShape3D" parent="Field/FieldColliders"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 14, 0) +shape = SubResource("BoxShape3D_7q7xm") + +[node name="CollisionShape3D6" type="CollisionShape3D" parent="Field/FieldColliders"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -10, 0) +shape = SubResource("BoxShape3D_7q7xm") + +[node name="CollisionShape3D7" type="CollisionShape3D" parent="Field/FieldColliders"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.418945, 0) +shape = SubResource("BoxShape3D_u865r") + +[node name="CollisionShape3D8" type="CollisionShape3D" parent="Field/FieldColliders"] +transform = Transform3D(1.91069e-15, 4.37114e-08, 1, 1, -4.37114e-08, 0, 4.37114e-08, 1, -4.37114e-08, 0, 0.9985, 0) +shape = SubResource("CylinderShape3D_ho4bs") + +[node name="Goal" type="Area3D" parent="Field"] +process_mode = 1 +collision_layer = 0 +collision_mask = 4 +monitorable = false +script = ExtResource("2_ypwf4") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Field/Goal"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.5, -0.4, 0) +shape = SubResource("BoxShape3D_efmyo") + +[node name="Goal2" type="Area3D" parent="Field"] +process_mode = 1 +transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 0, 0, 0) +collision_layer = 0 +collision_mask = 4 +monitorable = false +script = ExtResource("2_ypwf4") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Field/Goal2"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.5, -0.4, 0) +shape = SubResource("BoxShape3D_efmyo") + +[node name="Decorations" type="Node3D" parent="Field"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.0384959, 0) + +[node name="MeshInstance3D" type="MeshInstance3D" parent="Field/Decorations"] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.0506201, 0) +material_override = SubResource("StandardMaterial3D_unsk7") +mesh = SubResource("PlaneMesh_o0rtt") +skeleton = NodePath("../../..") + +[node name="static_decorations" parent="Field/Decorations" instance=ExtResource("5_5d1h1")] +transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 0, 0, 0) + +[node name="grass" parent="Field/Decorations/static_decorations" index="2"] +mesh = SubResource("ArrayMesh_1dxiy") + +[node name="Robot" parent="." node_paths=PackedStringArray("other_player", "goal") instance=ExtResource("3_y4pr4")] +transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -1.5, 0.2, 0) +other_player = NodePath("../Robot2") +goal = NodePath("../Field/Goal") + +[node name="Robot2" parent="." node_paths=PackedStringArray("other_player", "goal") instance=ExtResource("3_y4pr4")] +transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 1.5, 0.2, 0) +other_player = NodePath("../Robot") +goal = NodePath("../Field/Goal2") + +[node name="Ball" type="RigidBody3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.560747, 1.45254, 0) +collision_layer = 4 +collision_mask = 3 +axis_lock_linear_z = true +mass = 0.1 +physics_material_override = SubResource("PhysicsMaterial_7eqbu") +gravity_scale = 1.25 +sleeping = true +lock_rotation = true +continuous_cd = true +max_contacts_reported = 1 +contact_monitor = true +linear_damp_mode = 1 +angular_damp_mode = 1 +script = ExtResource("5_xjnfp") +max_velocity = 9.0 + +[node name="MeshInstance3D" type="MeshInstance3D" parent="Ball"] +material_override = SubResource("StandardMaterial3D_5bx48") +mesh = SubResource("SphereMesh_3ng7x") + +[node name="CollisionShape3D" type="CollisionShape3D" parent="Ball"] +shape = SubResource("SphereShape3D_sg3a8") + +[connection signal="ball_entered" from="Field/Goal" to="." method="_on_goal_ball_entered"] +[connection signal="ball_entered" from="Field/Goal2" to="." method="_on_goal_ball_entered"] +[connection signal="body_entered" from="Ball" to="." method="_on_ball_body_entered"] +[connection signal="body_entered" from="Ball" to="Ball" method="_on_body_entered"] + +[editable path="Field/Decorations/static_decorations"] diff --git a/scenes/game_scene/goal.gd b/scenes/game_scene/goal.gd new file mode 100644 index 0000000000000000000000000000000000000000..04a15d071721d9a5732865bcff70c5e2f5f86d3d --- /dev/null +++ b/scenes/game_scene/goal.gd @@ -0,0 +1,13 @@ +extends Area3D +class_name Goal + +signal ball_entered(goal: Goal) + + +func _ready(): + connect("body_entered", on_body_entered) + + +func on_body_entered(body): + if body is Ball: + ball_entered.emit(self) diff --git a/scenes/robot/RobotAIController.gd b/scenes/robot/RobotAIController.gd new file mode 100644 index 0000000000000000000000000000000000000000..a26bdf3defa3ac4fea0c01b80bd8414e008da0d3 --- /dev/null +++ b/scenes/robot/RobotAIController.gd @@ -0,0 +1,79 @@ +extends AIController3D +class_name RobotAIController + +@onready var robot: Robot = get_parent() +@onready var sensors: Array[Node] = $"../Sensors".get_children() + +var steps_without_ball_hit_while_serving: int +var is_serving: bool + + +func reset(): + super.reset() + + +func _physics_process(_delta): + n_steps += 1 + + if is_serving: + steps_without_ball_hit_while_serving += 1 + + if steps_without_ball_hit_while_serving > 400: + reward -= 1 + robot.other_player.score += 1 + robot.game_manager.reset_ball(robot.other_player) + + +func get_obs() -> Dictionary: + var ball_position = robot.to_local(robot.ball.global_position) / 8.0 + var ball_goal_position = robot.goal.to_local(robot.ball.global_position) / 5.0 + var robot_velocity = ( + (robot.global_transform.basis.inverse() * robot.linear_velocity.limit_length(10.0)) / 10.0 + ) + var ball_velocity = ( + (robot.global_transform.basis.inverse() * robot.ball.linear_velocity.limit_length(8.0)) + / 8.0 + ) + + var observations: Array[float] = [ + ball_position.y, + ball_position.z, + ball_goal_position.x, + ball_goal_position.z, + robot_velocity.y, + robot_velocity.z, + ball_velocity.y, + ball_velocity.z, + float(robot.jump_sensor.is_colliding()), + float(float(is_serving)), + float(robot.ball.ball_served), + robot.game_manager.get_hit_ball_count(robot), + steps_without_ball_hit_while_serving / 400.0 + ] + + observations.append_array(get_raycast_sensor_obs()) + + return {"obs": observations} + + +func get_reward() -> float: + return reward + + +func get_action_space() -> Dictionary: + return { + "jump": {"size": 1, "action_type": "continuous"}, + "movement": {"size": 1, "action_type": "continuous"} + } + + +func set_action(action) -> void: + robot.requested_movement = clamp(action.movement[0], -1.0, 1.0) + robot.jump_requested = action.jump[0] > 0 + + +func get_raycast_sensor_obs(): + var all_raycast_sensor_obs: Array[float] = [] + for raycast_sensor in sensors: + all_raycast_sensor_obs.append_array(raycast_sensor.get_observation()) + return all_raycast_sensor_obs diff --git a/scenes/robot/robot.gd b/scenes/robot/robot.gd new file mode 100644 index 0000000000000000000000000000000000000000..fd26b14ccac54326f8401da5322bf9c6a1932f1d --- /dev/null +++ b/scenes/robot/robot.gd @@ -0,0 +1,131 @@ +extends RigidBody3D +class_name Robot + +@export var other_player: Robot +@export var goal: Area3D + +@export var wheels: Array[Node3D] + +@export var acceleration: float = 100.0 +@export var rotation_speed: float = 15.0 +@export var jump_force: float = 290 + +@export var gravity := Vector3.DOWN * 60.0 + +@onready var robot_visual: Node3D = $robot +@onready var jump_sensor: RayCast3D = $JumpSensor +@onready var ai_controller: RobotAIController = $AIController3D +@onready var particles: GPUParticles3D = $GPUParticles3D +@onready var initial_position = global_position + +var game_manager: GameManager +var ball: Ball + +var requested_movement: float +var jump_requested: bool +var velocity: Vector3 +var last_movement_direction: float = 1 + +## If set, the score from this Robot will be displayed in the label +var score_label: Label +var score : int: + set(value): + score = value + if score_label: + score_label.text = str(value) + + +func _ready(): + score = 0 + reset() + + +func reset(): + linear_velocity = Vector3.ZERO + global_position = initial_position + + +func _physics_process(delta): + reset_on_needs_reset() + handle_movement(delta) + + +func reset_on_needs_reset(): + if ai_controller.needs_reset: + reset() + ai_controller.reset() + pass + + +func handle_movement(delta): + var movement := Vector3() + + if ai_controller.heuristic == "human": + if Input.is_action_pressed("move_left"): + movement.x = -1 + if Input.is_action_pressed("move_right"): + movement.x = 1 + if Input.is_action_pressed("jump"): + if jump_sensor.is_colliding(): + apply_force(Vector3.UP * jump_force) + else: + movement = global_basis.z * requested_movement + if jump_sensor.is_colliding() and jump_requested: + apply_force(Vector3.UP * jump_force) + + if movement: + last_movement_direction = sign(movement.x) + apply_acceleration(movement.normalized()) + + update_particle_effects() + update_wheels_and_visual_rotation(delta) + rotate_toward_movement(delta) + apply_gravity() + + +func apply_acceleration(direction): + apply_force(direction * acceleration) + + +func apply_gravity(): + apply_force(gravity) + + +func rotate_toward_movement(delta): + if abs(last_movement_direction) > 0.005: + robot_visual.global_transform = ( + robot_visual + . global_transform + . interpolate_with( + robot_visual.global_transform.looking_at( + ( + robot_visual.global_transform.origin + + Vector3(last_movement_direction, 0, +0.01) + ) + ), + rotation_speed * delta + ) + . orthonormalized() + ) + + +func update_wheels_and_visual_rotation(delta): + var abs_movement = abs(linear_velocity.x) + + for wheel in wheels: + wheel.rotate_object_local(Vector3.LEFT, abs_movement * 1.3 * delta) + robot_visual.rotation.x = -0.01 * abs_movement + + +func update_particle_effects(): + if linear_velocity.x > 0.25 and jump_sensor.is_colliding(): + particles.emitting = true + else: + particles.emitting = false + + +func end_episode(reward: float): + ai_controller.reward += reward + ai_controller.done = true + ai_controller.needs_reset = true + pass diff --git a/scenes/robot/robot.tscn b/scenes/robot/robot.tscn new file mode 100644 index 0000000000000000000000000000000000000000..5d6deab081df195e02737e79c485a84fc2b0fb42 --- /dev/null +++ b/scenes/robot/robot.tscn @@ -0,0 +1,131 @@ +[gd_scene load_steps=16 format=3 uid="uid://3gt386v3b1ej"] + +[ext_resource type="Script" path="res://scenes/robot/robot.gd" id="1_jpfj0"] +[ext_resource type="PackedScene" uid="uid://bp76uev4ua5uy" path="res://blender/robot.blend" id="1_kysqn"] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="3_k05bk"] +[ext_resource type="Script" path="res://scenes/robot/RobotAIController.gd" id="4_f5vwx"] + +[sub_resource type="PhysicsMaterial" id="PhysicsMaterial_3x7cx"] +friction = 0.0 + +[sub_resource type="CapsuleShape3D" id="CapsuleShape3D_jp65j"] +radius = 0.339085 +height = 0.744042 + +[sub_resource type="Gradient" id="Gradient_4bcu7"] +offsets = PackedFloat32Array(0, 0.998211) +colors = PackedColorArray(0.6, 0.388235, 0, 1, 0.6, 0.278431, 0, 0) + +[sub_resource type="GradientTexture1D" id="GradientTexture1D_qcbs8"] +gradient = SubResource("Gradient_4bcu7") + +[sub_resource type="Curve" id="Curve_qrfli"] +_data = [Vector2(0.00851789, 0.59552), 0.0, 0.0, 0, 0, Vector2(1, 1), 0.0, 0.0, 0, 0] +point_count = 2 + +[sub_resource type="CurveTexture" id="CurveTexture_w84kp"] +curve = SubResource("Curve_qrfli") + +[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_imhhe"] +emission_shape = 3 +emission_box_extents = Vector3(0.2, 0, 0) +gravity = Vector3(0, 0, 0) +scale_curve = SubResource("CurveTexture_w84kp") +color_ramp = SubResource("GradientTexture1D_qcbs8") + +[sub_resource type="Gradient" id="Gradient_beaai"] +offsets = PackedFloat32Array(0, 0.552398) +colors = PackedColorArray(1, 1, 1, 0.65098, 1, 1, 1, 0) + +[sub_resource type="GradientTexture2D" id="GradientTexture2D_u8cd4"] +gradient = SubResource("Gradient_beaai") +fill = 1 +fill_from = Vector2(0.5, 0.5) + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_jrh46"] +transparency = 1 +vertex_color_use_as_albedo = true +albedo_texture = SubResource("GradientTexture2D_u8cd4") +billboard_mode = 3 +particles_anim_h_frames = 1 +particles_anim_v_frames = 1 +particles_anim_loop = false + +[sub_resource type="QuadMesh" id="QuadMesh_aiaq2"] +material = SubResource("StandardMaterial3D_jrh46") +size = Vector2(0.5, 0.5) + +[node name="Robot" type="RigidBody3D" node_paths=PackedStringArray("wheels")] +collision_layer = 2 +collision_mask = 5 +axis_lock_linear_z = true +axis_lock_angular_x = true +axis_lock_angular_y = true +axis_lock_angular_z = true +physics_material_override = SubResource("PhysicsMaterial_3x7cx") +gravity_scale = 0.0 +continuous_cd = true +linear_damp_mode = 1 +linear_damp = 20.0 +script = ExtResource("1_jpfj0") +wheels = [NodePath("robot/Robot/Wheels")] + +[node name="robot" parent="." instance=ExtResource("1_kysqn")] + +[node name="CollisionShape3D" type="CollisionShape3D" parent="."] +transform = Transform3D(-1, 3.89414e-07, 0, -3.89414e-07, -1, 0, 0, 0, 1, 0, 0.212432, 0) +shape = SubResource("CapsuleShape3D_jp65j") + +[node name="Node3D" type="Node3D" parent="."] +transform = Transform3D(-0.0218088, -0.607985, 0.793649, 0, 0.793838, 0.608129, -0.999762, 0.0132626, -0.0173126, 13.2659, 11.8416, -0.404609) + +[node name="Sensors" type="Node3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.004, 0, 0) + +[node name="WallSensor" type="Node3D" parent="Sensors"] +transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0) +visible = false +script = ExtResource("3_k05bk") +boolean_class_mask = 0 +n_rays_width = 1.0 +n_rays_height = 2.0 +ray_length = 5.0 +cone_width = 0.0 +cone_height = 360.0 + +[node name="@RayCast3D@60222" type="RayCast3D" parent="Sensors/WallSensor"] +target_position = Vector3(0, -5, 3.06152e-16) + +[node name="@RayCast3D@60223" type="RayCast3D" parent="Sensors/WallSensor"] +target_position = Vector3(0, 5, 3.06152e-16) + +[node name="FloorSensor" type="Node3D" parent="Sensors"] +transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0) +visible = false +script = ExtResource("3_k05bk") +boolean_class_mask = 0 +n_rays_width = 1.0 +n_rays_height = 2.0 +ray_length = 2.0 +cone_width = 0.0 +cone_height = 182.56 + +[node name="@RayCast3D@60442" type="RayCast3D" parent="Sensors/FloorSensor"] +target_position = Vector3(0, -1.42992, 1.39833) + +[node name="@RayCast3D@60443" type="RayCast3D" parent="Sensors/FloorSensor"] +target_position = Vector3(0, 1.42992, 1.39833) + +[node name="AIController3D" type="Node3D" parent="."] +script = ExtResource("4_f5vwx") + +[node name="JumpSensor" type="RayCast3D" parent="."] +target_position = Vector3(0, -0.34, 0) +hit_back_faces = false + +[node name="GPUParticles3D" type="GPUParticles3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.0624974, 0) +amount = 128 +lifetime = 3.0 +process_material = SubResource("ParticleProcessMaterial_imhhe") +draw_pass_1 = SubResource("QuadMesh_aiaq2") diff --git a/scenes/testing_scenes/ai_vs_ai.tscn b/scenes/testing_scenes/ai_vs_ai.tscn new file mode 100644 index 0000000000000000000000000000000000000000..f4856779f59eb06b27a82d7ee53a622a32818407 --- /dev/null +++ b/scenes/testing_scenes/ai_vs_ai.tscn @@ -0,0 +1,55 @@ +[gd_scene load_steps=9 format=3 uid="uid://gouk55fdvkhe"] + +[ext_resource type="PackedScene" uid="uid://dacey0tgdvp5k" path="res://scenes/ui/ui.tscn" id="1_f286a"] +[ext_resource type="PackedScene" uid="uid://2x5filmso32a" path="res://scenes/game_scene/game_scene.tscn" id="1_qjmmd"] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="2_bbtpr"] +[ext_resource type="Texture2D" uid="uid://sub808a7bcjm" path="res://textures/sky.exr" id="4_bdeqy"] +[ext_resource type="Shader" uid="uid://cqqclvnx22nd1" path="res://shaders/sky_shader.tres" id="4_jrt8d"] + +[sub_resource type="ShaderMaterial" id="ShaderMaterial_kpn2t"] +shader = ExtResource("4_jrt8d") +shader_parameter/cloud_rotation_speed = 0.001 +shader_parameter/source_panorama = ExtResource("4_bdeqy") + +[sub_resource type="Sky" id="Sky_a1n77"] +sky_material = SubResource("ShaderMaterial_kpn2t") + +[sub_resource type="Environment" id="Environment_38ijg"] +background_mode = 2 +sky = SubResource("Sky_a1n77") +ambient_light_color = Color(0.266667, 0.266667, 0.266667, 1) +ambient_light_sky_contribution = 0.9 +ambient_light_energy = 6.14 +tonemap_mode = 2 +tonemap_white = 0.8 +glow_enabled = true + +[node name="AiVsAIInference" type="Node3D"] + +[node name="UI" parent="." node_paths=PackedStringArray("left_score_robot", "right_score_robot") instance=ExtResource("1_f286a")] +left_score_robot = NodePath("../GameScene/Robot") +right_score_robot = NodePath("../GameScene/Robot2") + +[node name="GameScene" parent="." node_paths=PackedStringArray("ui") instance=ExtResource("1_qjmmd")] +training_mode = false +infinite_game = false +victory_at_score = 3 +ui = NodePath("../UI") + +[node name="Sync" type="Node" parent="."] +script = ExtResource("2_bbtpr") +control_mode = 2 +onnx_model_path = "onnx/volleyball.onnx" + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 0.979926, 0.199368, 0, -0.199368, 0.979926, 0, 2.83, 4.948) +fov = 53.3 +size = 6.0 + +[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 0.469472, 0.882948, 0, -0.882948, 0.469472, 0, 0, 0) +shadow_enabled = true +shadow_blur = 3.446 + +[node name="WorldEnvironment" type="WorldEnvironment" parent="."] +environment = SubResource("Environment_38ijg") diff --git a/scenes/testing_scenes/human_vs_ai.tscn b/scenes/testing_scenes/human_vs_ai.tscn new file mode 100644 index 0000000000000000000000000000000000000000..a356978b0887090b0d15e3f24f77a8dc670784ec --- /dev/null +++ b/scenes/testing_scenes/human_vs_ai.tscn @@ -0,0 +1,454 @@ +[gd_scene load_steps=32 format=3 uid="uid://dovly4f5od4jb"] + +[ext_resource type="PackedScene" uid="uid://2x5filmso32a" path="res://scenes/game_scene/game_scene.tscn" id="1_wdhtf"] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="2_emffh"] +[ext_resource type="PackedScene" uid="uid://dacey0tgdvp5k" path="res://scenes/ui/ui.tscn" id="3_udi5o"] +[ext_resource type="Shader" uid="uid://cqqclvnx22nd1" path="res://shaders/sky_shader.tres" id="4_u6ijw"] +[ext_resource type="Texture2D" uid="uid://sub808a7bcjm" path="res://textures/sky.exr" id="5_e1e13"] + +[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_jbi3e"] +resource_name = "Material_0" +albedo_color = Color(0, 0.501961, 0.00784314, 1) +roughness = 0.9 + +[sub_resource type="ArrayMesh" id="ArrayMesh_jik8h"] +_surfaces = [{ +"aabb": 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id="Environment_6hs5l"] +background_mode = 2 +sky = SubResource("Sky_ohheq") +ambient_light_color = Color(0.266667, 0.266667, 0.266667, 1) +ambient_light_sky_contribution = 0.9 +ambient_light_energy = 6.14 +tonemap_mode = 2 +tonemap_white = 0.8 +glow_enabled = true + +[node name="HumanVsAI" type="Node3D"] + +[node name="UI" parent="." node_paths=PackedStringArray("left_score_robot", "right_score_robot") instance=ExtResource("3_udi5o")] +left_score_robot = NodePath("../GameScene/Robot") +right_score_robot = NodePath("../GameScene/Robot2") + +[node name="GameScene" parent="." node_paths=PackedStringArray("ui") instance=ExtResource("1_wdhtf")] +training_mode = false +infinite_game = false +victory_at_score = 3 +ui = NodePath("../UI") + +[node name="Tree" parent="GameScene/Field/Decorations/static_decorations/Trees" index="0"] +mesh = SubResource("ArrayMesh_qinsc") + +[node name="Cylinder" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree" index="0"] +mesh = SubResource("ArrayMesh_8wst3") + +[node name="Tree_001" parent="GameScene/Field/Decorations/static_decorations/Trees" index="1"] +mesh = SubResource("ArrayMesh_qinsc") + +[node name="Cylinder_003" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree_001" index="0"] +mesh = SubResource("ArrayMesh_8wst3") + +[node name="Tree_002" parent="GameScene/Field/Decorations/static_decorations/Trees" index="2"] +mesh = SubResource("ArrayMesh_qinsc") + +[node name="Cylinder_004" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree_002" index="0"] +mesh = SubResource("ArrayMesh_8wst3") + +[node name="Tree2" parent="GameScene/Field/Decorations/static_decorations/Trees" index="3"] +mesh = SubResource("ArrayMesh_arqs5") + +[node name="Cylinder_002" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree2" index="0"] +mesh = SubResource("ArrayMesh_o3gxj") + +[node name="Tree2_001" parent="GameScene/Field/Decorations/static_decorations/Trees" index="4"] +mesh = SubResource("ArrayMesh_arqs5") + +[node name="Cylinder_006" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree2_001" index="0"] +mesh = SubResource("ArrayMesh_o3gxj") + +[node name="Tree3" parent="GameScene/Field/Decorations/static_decorations/Trees" index="5"] +mesh = SubResource("ArrayMesh_05428") + +[node name="Cylinder_001" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree3" index="0"] +mesh = SubResource("ArrayMesh_qwl6c") + +[node name="Tree3_001" parent="GameScene/Field/Decorations/static_decorations/Trees" index="6"] +mesh = SubResource("ArrayMesh_05428") + +[node name="Cylinder_005" parent="GameScene/Field/Decorations/static_decorations/Trees/Tree3_001" index="0"] +mesh = SubResource("ArrayMesh_qwl6c") + +[node name="Cube" parent="GameScene/Field/Decorations/static_decorations" index="3"] +mesh = SubResource("ArrayMesh_4i1hc") + +[node name="Cube_001" parent="GameScene/Field/Decorations/static_decorations" index="4"] +mesh = SubResource("ArrayMesh_otkcq") + +[node name="Cube_002" parent="GameScene/Field/Decorations/static_decorations" index="5"] +mesh = SubResource("ArrayMesh_udoue") + +[node name="Cube_003" parent="GameScene/Field/Decorations/static_decorations" index="6"] +mesh = SubResource("ArrayMesh_6234b") + +[node name="AIController3D" parent="GameScene/Robot" index="4"] +control_mode = 1 + +[node name="Sync" type="Node" parent="."] +script = ExtResource("2_emffh") +control_mode = 2 +onnx_model_path = "onnx/volleyball.onnx" + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 0.979925, 0.199368, 0, -0.199368, 0.979925, 0, 2.83, 4.948) +fov = 53.3 +size = 6.0 + +[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 0.469472, 0.882948, 0, -0.882948, 0.469472, 0, 0, 0) +shadow_enabled = true +shadow_blur = 3.446 + +[node name="WorldEnvironment" type="WorldEnvironment" parent="."] +environment = SubResource("Environment_6hs5l") + +[editable path="GameScene"] +[editable path="GameScene/Field/Decorations/static_decorations"] +[editable path="GameScene/Robot"] +[editable path="GameScene/Robot2"] diff --git a/scenes/training_scene/training_scene.tscn b/scenes/training_scene/training_scene.tscn new file mode 100644 index 0000000000000000000000000000000000000000..2e419b7209af65aec89305882c9338642f622c79 --- /dev/null +++ b/scenes/training_scene/training_scene.tscn @@ -0,0 +1,86 @@ +[gd_scene load_steps=8 format=3 uid="uid://c1n2hpk3re3ba"] + +[ext_resource type="PackedScene" uid="uid://2x5filmso32a" path="res://scenes/game_scene/game_scene.tscn" id="1_n3jub"] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="2_tbt55"] +[ext_resource type="Shader" uid="uid://cqqclvnx22nd1" path="res://shaders/sky_shader.tres" id="3_h2ned"] +[ext_resource type="Texture2D" uid="uid://sub808a7bcjm" path="res://textures/sky.exr" id="4_u3spc"] + +[sub_resource type="ShaderMaterial" id="ShaderMaterial_nx0o6"] +shader = ExtResource("3_h2ned") +shader_parameter/cloud_rotation_speed = 0.001 +shader_parameter/source_panorama = ExtResource("4_u3spc") + +[sub_resource type="Sky" id="Sky_46w4l"] +sky_material = SubResource("ShaderMaterial_nx0o6") + +[sub_resource type="Environment" id="Environment_4ynkf"] +background_mode = 2 +sky = SubResource("Sky_46w4l") +ambient_light_color = Color(0.266667, 0.266667, 0.266667, 1) +ambient_light_sky_contribution = 0.9 +ambient_light_energy = 6.14 +tonemap_mode = 2 +tonemap_white = 0.8 + +[node name="TrainingScene" type="Node3D"] + +[node name="Sync" type="Node" parent="."] +script = ExtResource("2_tbt55") + +[node name="Camera3D" type="Camera3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 0.927184, 0.374607, 0, -0.374607, 0.927184, 0, 3.1, 4.948) +fov = 53.3 +size = 6.0 + +[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."] +transform = Transform3D(1, 0, 0, 0, 0.681373, 0.731937, 0, -0.731937, 0.681373, 0, 0, 0) + +[node name="GameScene" parent="." instance=ExtResource("1_n3jub")] + +[node name="GameScene2" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -20) + +[node name="GameScene3" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -40) + +[node name="GameScene4" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -60) + +[node name="GameScene5" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -80) + +[node name="GameScene6" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -100) + +[node name="GameScene7" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -120) + +[node name="GameScene8" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -140) + +[node name="GameScene9" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -160) + +[node name="GameScene10" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -180) + +[node name="GameScene11" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -200) + +[node name="GameScene12" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -220) + +[node name="GameScene13" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -240) + +[node name="GameScene14" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -260) + +[node name="GameScene15" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -280) + +[node name="GameScene16" parent="." instance=ExtResource("1_n3jub")] +transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -300) + +[node name="WorldEnvironment" type="WorldEnvironment" parent="."] +environment = SubResource("Environment_4ynkf") diff --git a/scenes/ui/ui.gd b/scenes/ui/ui.gd new file mode 100644 index 0000000000000000000000000000000000000000..30cd6b140079bfdb8a2eb04ef2761773b4791b5f --- /dev/null +++ b/scenes/ui/ui.gd @@ -0,0 +1,39 @@ +extends Control +class_name UI + +@export var left_score_robot: Robot +@export var right_score_robot: Robot + +@onready var winner = $VBoxContainer/Winner +@onready var get_ready = $VBoxContainer/GetReady + + +func _ready(): + if left_score_robot: + left_score_robot.score_label = $LeftScore + if right_score_robot: + right_score_robot.score_label = $RightScore + winner.visible = false + + +func show_get_ready_text(seconds_remaining: int): + get_ready.visible = true + for seconds in range(seconds_remaining, 0, -1): + get_ready.text = "Get ready! Game starting in: %d" % seconds + await get_tree().create_timer(1, true, true).timeout + deactivate_get_ready_text() + + +func show_winner_text(winner_name: String, seconds_until_deactivated: int = 0): + winner.text = "The winner is %s!" % winner_name + winner.visible = true + await get_tree().create_timer(seconds_until_deactivated, true, true).timeout + deactivate_winner_text() + + +func deactivate_get_ready_text(): + get_ready.visible = false + + +func deactivate_winner_text(): + winner.visible = false diff --git a/scenes/ui/ui.tscn b/scenes/ui/ui.tscn new file mode 100644 index 0000000000000000000000000000000000000000..36f5db21ba89a44f4dd11f540fd9bbbdfaf5c24b --- /dev/null +++ b/scenes/ui/ui.tscn @@ -0,0 +1,61 @@ +[gd_scene load_steps=2 format=3 uid="uid://dacey0tgdvp5k"] + +[ext_resource type="Script" path="res://scenes/ui/ui.gd" id="1_a5uno"] + +[node name="UI" type="Control"] +layout_mode = 3 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +grow_horizontal = 2 +grow_vertical = 2 +script = ExtResource("1_a5uno") + +[node name="LeftScore" type="Label" parent="."] +layout_mode = 1 +anchors_preset = -1 +offset_left = 30.0 +offset_top = 10.0 +offset_right = 40.0 +offset_bottom = 23.0 +theme_override_font_sizes/font_size = 60 +text = "20" + +[node name="RightScore" type="Label" parent="."] +layout_mode = 1 +anchors_preset = -1 +anchor_left = 1.0 +anchor_right = 1.0 +offset_left = -30.0 +offset_top = 10.0 +offset_right = -30.0 +offset_bottom = 23.0 +grow_horizontal = 0 +theme_override_font_sizes/font_size = 60 +text = "20" +horizontal_alignment = 2 + +[node name="VBoxContainer" type="VBoxContainer" parent="."] +layout_mode = 1 +anchors_preset = -1 +anchor_left = 0.5 +anchor_right = 0.5 +offset_left = -20.0 +offset_top = 120.0 +offset_right = 20.0 +offset_bottom = 40.0 +grow_horizontal = 2 + +[node name="Winner" type="Label" parent="VBoxContainer"] +visible = false +layout_mode = 2 +theme_override_font_sizes/font_size = 60 +text = "Winner is..." +horizontal_alignment = 1 + +[node name="GetReady" type="Label" parent="VBoxContainer"] +visible = false +layout_mode = 2 +theme_override_font_sizes/font_size = 60 +text = "Get Ready" +horizontal_alignment = 1 diff --git a/shaders/sky_shader.tres b/shaders/sky_shader.tres new file mode 100644 index 0000000000000000000000000000000000000000..426772d969a37d3d6a1c437d803d1e7ca8fb3e0d --- /dev/null +++ b/shaders/sky_shader.tres @@ -0,0 +1,15 @@ +[gd_resource type="Shader" format=3 uid="uid://cqqclvnx22nd1"] + +[resource] +code = " +// NOTE: Shader automatically converted from Godot Engine 4.2.1.stable.mono's PanoramaSkyMaterial. + +shader_type sky; + +uniform sampler2D source_panorama : filter_linear, source_color, hint_default_black; +uniform float cloud_rotation_speed : hint_range(-1,1) = 0.001; + +void sky() { + COLOR = texture(source_panorama, SKY_COORDS + vec2(TIME * cloud_rotation_speed, 0.0)).rgb; +} +" diff --git a/shaders/sway.tres b/shaders/sway.tres new file mode 100644 index 0000000000000000000000000000000000000000..9f07f6f7b1606cee95d0ff34753aeb1b17552577 --- /dev/null +++ b/shaders/sway.tres @@ -0,0 +1,55 @@ +[gd_resource type="Shader" format=3 uid="uid://der346ayua0mt"] + +[resource] +code = "// NOTE: Shader automatically converted from Godot Engine 4.2.1.stable.mono's StandardMaterial3D. + +shader_type spatial; +render_mode blend_mix,depth_draw_opaque,cull_disabled,diffuse_burley,specular_schlick_ggx,depth_prepass_alpha; +uniform vec4 albedo : source_color; +uniform sampler2D texture_albedo : source_color,filter_linear_mipmap,repeat_enable; +uniform float point_size : hint_range(0,128); +uniform float roughness : hint_range(0,1); +uniform sampler2D texture_metallic : hint_default_white,filter_linear_mipmap,repeat_enable; +uniform vec4 metallic_texture_channel; +uniform sampler2D texture_roughness : hint_roughness_r,filter_linear_mipmap,repeat_enable; +uniform float specular; +uniform float metallic; +uniform vec3 uv1_scale; +uniform vec3 uv1_offset; +uniform vec3 uv2_scale; +uniform vec3 uv2_offset; + +uniform float sway_frequency : hint_range(0,1) = 1.0; +uniform float sway_scale : hint_range(0,1) = 0.1; + +vec3 sway(vec3 vertex, float frequency, float magnitude) { + return vec3( + vertex.x + vertex.y * sin(frequency * TIME) * magnitude, + vertex.y, + vertex.z + vertex.y * cos(frequency * TIME) * magnitude + ); +} + +void vertex() { + UV=UV*uv1_scale.xy+uv1_offset.xy; + VERTEX = sway(VERTEX, sway_frequency, sway_scale); +} + + + + + + +void fragment() { + vec2 base_uv = UV; + vec4 albedo_tex = texture(texture_albedo,base_uv); + ALBEDO = albedo.rgb * albedo_tex.rgb; + float metallic_tex = dot(texture(texture_metallic,base_uv),metallic_texture_channel); + METALLIC = metallic_tex * metallic; + vec4 roughness_texture_channel = vec4(1.0,0.0,0.0,0.0); + float roughness_tex = dot(texture(texture_roughness,base_uv),roughness_texture_channel); + ROUGHNESS = roughness_tex * roughness; + SPECULAR = specular; + ALPHA *= albedo.a * albedo_tex.a; +} +" diff --git a/textures/sky.exr b/textures/sky.exr new file mode 100644 index 0000000000000000000000000000000000000000..c60d26132a6fed0722cd2dd8c3ebb50f40cacb92 --- /dev/null +++ b/textures/sky.exr @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6ff635a0f2a59a566b8cf9f70575dfc7d7ac336bae0a7435817a0b0bd158195 +size 2501896 diff --git a/textures/sky.exr.import b/textures/sky.exr.import new file mode 100644 index 0000000000000000000000000000000000000000..7619e6175d5b2bdb80298a49956a59148ce1e14b --- /dev/null +++ b/textures/sky.exr.import @@ -0,0 +1,35 @@ +[remap] + +importer="texture" +type="CompressedTexture2D" +uid="uid://bhowflupfn27e" +path.bptc="res://.godot/imported/sky.exr-d9c0c68b3ab02de31c2c73d787342a67.bptc.ctex" +metadata={ +"imported_formats": ["s3tc_bptc"], +"vram_texture": true +} + +[deps] + +source_file="res://textures/sky.exr" +dest_files=["res://.godot/imported/sky.exr-d9c0c68b3ab02de31c2c73d787342a67.bptc.ctex"] + +[params] + +compress/mode=2 +compress/high_quality=false +compress/lossy_quality=0.7 +compress/hdr_compression=1 +compress/normal_map=0 +compress/channel_pack=0 +mipmaps/generate=true +mipmaps/limit=-1 +roughness/mode=0 +roughness/src_normal="" +process/fix_alpha_border=true +process/premult_alpha=false +process/normal_map_invert_y=false +process/hdr_as_srgb=false +process/hdr_clamp_exposure=false +process/size_limit=0 +detect_3d/compress_to=0