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AIController.gd

@@ -1,11 +1,7 @@
-extends Node3D
-class_name AIController
+extends AIController3D
 
-var _player : Player
 
 # ------------------ Godot RL Agents Logic ------------------------------------#
-var heuristic := "human"
-var done := false
 # example actions
 
 var movement_action := Vector2(0.0, 0.0)
@@ -13,10 +9,7 @@ var look_action := Vector2(0.0, 0.0)
 var jump_action := false
 var shoot_action := false
 
-var needs_reset := false
-var reward := 0.0
 var n_steps_without_positive_reward = 0
-var n_steps = 0
 
 @onready var wide_raycast_sensor = $WideRaycastSensor
 @onready var narrow_raycast_sensor = $NarrowRaycastSensor
@@ -43,10 +36,6 @@ func reset():
 	n_steps_without_positive_reward = 0
 	n_steps = 0
 
-func reset_if_done():
-	if done:
-		reset()
-
 func get_obs():
 	var obs = []
 	obs.append_array(wide_raycast_sensor.get_observation())
@@ -64,27 +53,12 @@ func get_reward():
 		n_steps_without_positive_reward = max(0, n_steps_without_positive_reward)
 	return total_reward
 
-func zero_reward():
-	reward = 0.0
 
 func shaping_reward():
 	var s_reward = 0.0
 	return s_reward
 
 
-func set_heuristic(h):
-	# sets the heuristic from "human" or "model" nothing to change here
-	heuristic = h
-   
-func get_obs_space():
-	var obs = get_obs()
-	return {
-		"obs": {
-			"size": [len(obs["obs"])],
-			"space": "box"
-		},
-	}
-
 func get_action_space():
 	return {
 		"movement_action" : {
@@ -105,11 +79,6 @@ func get_action_space():
 		},
 	}
 
-func get_done():
-	return done
-	
-func set_done_false():
-	done = false
 
 func set_action(action):	
 	movement_action = Vector2(clamp(action["movement_action"][0],-1.0,1.0), clamp(action["movement_action"][1],-1.0,1.0))
@@ -118,7 +87,7 @@ func set_action(action):
 	shoot_action = action["shoot_action"] == 1
 
 
-func _physics_process(delta):
+func _physics_process(_delta):
 	n_steps += 1
 	if n_steps > 4000:
 		_player.needs_respawn = true

FlyCam.gd

@@ -12,7 +12,7 @@ func set_control(value):
 	$Camera3D.current = value
 	
 	
-func _process(delta):
+func _process(_delta):
 	var input_dir = Input.get_vector("move_left", "move_right", "move_forward", "move_backward")
 	var direction = (transform.basis * Vector3(input_dir.x, 0, input_dir.y)).normalized()
 	direction.y =  Input.get_axis("cam_down", "cam_up")

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -1,8 +1,82 @@
-extends AIController
+extends Node2D
 class_name AIController2D
 
-# ------------------ Godot RL Agents Logic ------------------------------------#
+@export var reset_after := 1000
+
+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") 	
+# -----------------------------------------------------------------------------#
+	
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		
+func get_obs_space():
+	# may need overriding if the obs space is complex
+	var obs = get_obs()
+	return {
+		"obs": {
+			"size": [len(obs["obs"])],
+			"space": "box"
+		},
+	}
+
+func reset():
+	n_steps = 0
+	needs_reset = false
+
+func reset_if_done():
+	if done:
+		reset()
+		
+func set_heuristic(h):
+	# sets the heuristic from "human" or "model" nothing to change here
+	heuristic = h
+
+func get_done():
+	return done
+	
+func set_done_false():
+	done = false
+
+func zero_reward():
+	reward = 0.0
+	
+

addons/godot_rl_agents/controller/ai_controller_3d.gd

@@ -1,8 +1,80 @@
-extends AIController
+extends Node3D
 class_name AIController3D
 
-# ------------------ Godot RL Agents Logic ------------------------------------#
+@export var reset_after := 1000
+
+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") 	
+# -----------------------------------------------------------------------------#
+	
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		
+func get_obs_space():
+	# may need overriding if the obs space is complex
+	var obs = get_obs()
+	return {
+		"obs": {
+			"size": [len(obs["obs"])],
+			"space": "box"
+		},
+	}
+
+func reset():
+	n_steps = 0
+	needs_reset = false
+
+func reset_if_done():
+	if done:
+		reset()
+		
+func set_heuristic(h):
+	# sets the heuristic from "human" or "model" nothing to change here
+	heuristic = h
+
+func get_done():
+	return done
+	
+func set_done_false():
+	done = false
+
+func zero_reward():
+	reward = 0.0

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

@@ -1,93 +1,103 @@
 using Godot;
-using System.Collections.Generic;
-using System.Linq;
 using Microsoft.ML.OnnxRuntime;
 using Microsoft.ML.OnnxRuntime.Tensors;
+using System.Collections.Generic;
+using System.Linq;
 
-namespace GodotONNX{
-	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
- 	public partial class ONNXInference : Node
+namespace GodotONNX
 {
-		
-	private InferenceSession session;
-	/// <summary>
-	/// Path to the ONNX model. Use Initialize to change it. 
-	/// </summary>
-	private string modelPath;
-	private int batchSize;
+	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
+	public partial class ONNXInference : GodotObject
+	{
 
-	private SessionOptions SessionOpt;
+		private InferenceSession session;
+		/// <summary>
+		/// Path to the ONNX model. Use Initialize to change it. 
+		/// </summary>
+		private string modelPath;
+		private int batchSize;
 
-	//init function
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
-	public void Initialize(string Path, int BatchSize)
-	{
-		modelPath = Path;
-		batchSize = BatchSize;
-		SessionConfigurator.SystemCheck();
-		SessionOpt = SessionConfigurator.GetSessionOptions();
-		session = LoadModel(modelPath);
+		private SessionOptions SessionOpt;
 
-	}
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
-	public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> obs, int state_ins)
-	{
-		//Current model: Any (Godot Rl Agents)
-		//Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
-		
-		//Fill the input tensors
-		// create span from inputSize
-		var span = new float[obs.Count]; //There's probably a better way to do this
-		for (int i = 0; i < obs.Count; i++)
+		//init function
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
+		public void Initialize(string Path, int BatchSize)
 		{
-			span[i] = obs[i];
+			modelPath = Path;
+			batchSize = BatchSize;
+            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+            session = LoadModel(modelPath);
+
 		}
-				
-		IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue> 
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
+		public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> obs, int state_ins)
+		{
+			//Current model: Any (Godot Rl Agents)
+			//Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
+
+			//Fill the input tensors
+			// create span from inputSize
+			var span = new float[obs.Count]; //There's probably a better way to do this
+			for (int i = 0; i < obs.Count; i++)
+			{
+				span[i] = obs[i];
+			}
+
+			IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue>
 			{
 			NamedOnnxValue.CreateFromTensor("obs", new DenseTensor<float>(span, new int[] { batchSize, obs.Count })),
 			NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor<float>(new float[] { state_ins }, new int[] { batchSize }))
-			}; 
-		IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
+			};
+			IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
 
-			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results;
-		
-		try{
-			results = session.Run(inputs, outputNames);
-		}
-		catch (OnnxRuntimeException e) {
-			//This error usually means that the model is not compatible with the input, beacause of the input shape (size)
-			GD.Print("Error at inference: ", e);
-			return null;
-		}
-		//Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
-		Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
-		DisposableNamedOnnxValue output1 = results.First();
-		DisposableNamedOnnxValue output2 = results.Last();
-		Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
-		Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
+			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results; 
+			//We do not use "using" here so we get a better exception explaination later
+			try
+			{
+				results = session.Run(inputs, outputNames);
+			}
+			catch (OnnxRuntimeException e)
+			{
+				//This error usually means that the model is not compatible with the input, beacause of the input shape (size)
+				GD.Print("Error at inference: ", e);
+				return null;
+			}
+			//Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
+			Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
+			DisposableNamedOnnxValue output1 = results.First();
+			DisposableNamedOnnxValue output2 = results.Last();
+			Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
+			Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
 
-		foreach (float f in output1.AsEnumerable<float>()) {
-			output1Array.Add(f);
-		}
+			foreach (float f in output1.AsEnumerable<float>())
+			{
+				output1Array.Add(f);
+			}
 
-		foreach (float f in output2.AsEnumerable<float>()) {
-			output2Array.Add(f);
-		}
+			foreach (float f in output2.AsEnumerable<float>())
+			{
+				output2Array.Add(f);
+			}
 
-		output.Add(output1.Name, output1Array);
-		output.Add(output2.Name, output2Array);
-		
-		//Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
-		return output;
-	}	
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
-	public InferenceSession LoadModel(string Path) 
-	{
-		Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
-		byte[] model = file.GetBuffer((int)file.GetLength());
-		file.Close();
-		return new InferenceSession(model, SessionOpt); //Load the model
-	}
+			output.Add(output1.Name, output1Array);
+			output.Add(output2.Name, output2Array);
+
+			//Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
+			results.Dispose();
+			return output;
+		}
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
+		public InferenceSession LoadModel(string Path)
+		{
+			using Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
+			byte[] model = file.GetBuffer((int)file.GetLength());
+			//file.Close(); file.Dispose(); //Close the file, then dispose the reference.
+			return new InferenceSession(model, SessionOpt); //Load the model
+		}
+		public void FreeDisposables()
+		{
+			session.Dispose();
+			SessionOpt.Dispose();
+		}
 	}
-}	
+}

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -1,106 +1,131 @@
 using Godot;
 using Microsoft.ML.OnnxRuntime;
 
-namespace GodotONNX{
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
-
-	public static class SessionConfigurator {
-
-		private static SessionOptions options = new SessionOptions();
-		
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
-		public static SessionOptions GetSessionOptions() {
-			options = new SessionOptions();
-			options.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING; 
-			// see warnings
-			SystemCheck();
-			return options;
-		}
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+namespace GodotONNX
+{
+	/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
 
-static public void SystemCheck()  
+	public static class SessionConfigurator
 	{
-		//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
-		int ComputeAPIID = 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
-		
-		string [] ComputeNames = {"CUDA", "DirectML/ROCm", "DirectML", "CoreML", "CPU"};
-		//match OS and Compute API
-		options.AppendExecutionProvider_CPU(0); // Always use CPU
-		GD.Print("OS: " + OSName, " | Compute API: " + ComputeNames[ComputeAPIID]);
-
-		switch (OSName) 
+		public enum ComputeName
 		{
-		case "Windows": //Can use CUDA, DirectML
-			if (ComputeAPIID == 0) 
-				{
-				//CUDA 
-				//options.AppendExecutionProvider_CUDA(0);
-				options.AppendExecutionProvider_DML(0);
-					}
-			else if (ComputeAPIID == 1) 
-				{ 
-				//DirectML
-				options.AppendExecutionProvider_DML(0);
-				}
-			break;
-		case "X11": //Can use CUDA, ROCm
-			if (ComputeAPIID == 0) 
-				{ 
-				//CUDA
-				//options.AppendExecutionProvider_CUDA(0);
-				}
-			if (ComputeAPIID == 1) 
-				{
-				//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.");
-				options.AppendExecutionProvider_CPU(0);
-				}
-			
-			break;
-		case "OSX": //Can use CoreML
-			if (ComputeAPIID == 0) { //CoreML
-			//TODO: Needs testing
-				options.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;
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
 		}
-	}
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
 
-	public static int 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 2, should use DirectML only
-		return 2;}
-	if (adapterName.Contains("AMD")) {
-		//Return 1, should use DirectML, check later for ROCm
-		return 1;}
-	if (adapterName.Contains("NVIDIA")){
-		//Return 0, should use CUDA
-		return 0;}
-	
-	GD.Print("Graphics Card not recognized."); //Return -1, should use CPU
-	return -1;
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
+        public static SessionOptions MakeConfiguredSessionOptions()
+        {
+            SessionOptions sessionOptions = new();
+            SetOptions(sessionOptions);
+            return sessionOptions;
+        }
+
+        private static void SetOptions(SessionOptions sessionOptions)
+        {
+            sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
+            ApplySystemSpecificOptions(sessionOptions);
+        }
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+        static public void ApplySystemSpecificOptions(SessionOptions sessionOptions)
+        {
+            //Most code for this function is verbose only, the only reason it exists is to track
+            //implementation progress of the different compute APIs.
+
+            //December 2022: CUDA is not working. 
+
+            string OSName = OS.GetName(); //Get OS Name
+
+            //ComputeName ComputeAPI = ComputeCheck(); //Get Compute API
+            //                                         //TODO: Get CPU architecture
+
+            //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++)
+            //Windows can use OpenVINO (C#) on x64
+            //TODO: try TensorRT instead of CUDA
+            //TODO: Use OpenVINO for Intel Graphics
+
+            // Temporarily using CPU on all platforms to avoid errors detected with DML
+            ComputeName ComputeAPI = ComputeName.CPU;
+
+            //match OS and Compute API
+            GD.Print($"OS: {OSName} Compute API: {ComputeAPI}");
+
+            // CPU is set by default without appending necessary
+            // sessionOptions.AppendExecutionProvider_CPU(0);
+
+            /*
+            switch (OSName)
+            {
+                case "Windows": //Can use CUDA, DirectML
+                    if (ComputeAPI is ComputeName.CUDA)
+                    {
+                        //CUDA 
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                        //sessionOptions.AppendExecutionProvider_DML(0);
+                    }
+                    else if (ComputeAPI is ComputeName.DirectML)
+                    {
+                        //DirectML
+                        //sessionOptions.AppendExecutionProvider_DML(0);
+                    }
+                    break;
+                case "X11": //Can use CUDA, ROCm
+                    if (ComputeAPI is ComputeName.CUDA)
+                    {
+                        //CUDA
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                    }
+                    if (ComputeAPI is ComputeName.ROCm)
+                    {
+                        //ROCm, only works on x86 
+                        //Research indicates that this has to be compiled as a GDNative plugin
+                        //GD.Print("ROCm not supported yet, using CPU.");
+                        //sessionOptions.AppendExecutionProvider_CPU(0);
+                    }
+                    break;
+                case "macOS": //Can use CoreML
+                    if (ComputeAPI is ComputeName.CoreML)
+                    { //CoreML
+                      //TODO: Needs testing
+                        //sessionOptions.AppendExecutionProvider_CoreML(0);
+                        //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub
+                    }
+                    break;
+                default:
+                    GD.Print("OS not Supported.");
+                    break;
+            }
+            */
+        }
+
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
+        public static ComputeName ComputeCheck()
+		{
+			string adapterName = Godot.RenderingServer.GetVideoAdapterName();
+			//string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor();
+			adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo(""));
+			//TODO: GPU vendors for MacOS, what do they even use these days?
+		  
+			if (adapterName.Contains("INTEL"))
+			{
+				return ComputeName.DirectML;
+			}
+			if (adapterName.Contains("AMD") || adapterName.Contains("RADEON"))
+			{
+				return ComputeName.DirectML;
+			}
+			if (adapterName.Contains("NVIDIA"))
+			{
+				return ComputeName.CUDA;
 			}
+
+			GD.Print("Graphics Card not recognized."); //Should use CPU
+			return ComputeName.CPU;
 		}
-}	
+	}
+}

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -1,4 +1,4 @@
-extends Node
+extends Resource
 class_name ONNXModel
 var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
 
@@ -17,3 +17,8 @@ func run_inference(obs : Array, state_ins : int) -> Dictionary:
 		printerr("Inferencer not initialized")
 		return {}
 	return inferencer.RunInference(obs, state_ins)
+
+func _notification(what):
+	if what == NOTIFICATION_PREDELETE:
+		inferencer.FreeDisposables()
+		inferencer.free()

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

@@ -1,6 +1,6 @@
 [gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
 
-[ext_resource type="Script" path="res://sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+[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

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -61,11 +61,15 @@ var geo = null
 
 func _update():
 	if Engine.is_editor_hint():
-		_spawn_nodes()	
-
+		if is_node_ready():
+			_spawn_nodes()	
 
 func _ready() -> void:
-	_spawn_nodes()
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
 
 func _spawn_nodes():
 	print("spawning nodes")

addons/godot_rl_agents/sync.gd

@@ -1,7 +1,7 @@
 extends Node
 # --fixed-fps 2000 --disable-render-loop
-@export var action_repeat := 8
-@export var speed_up = 1
+@export_range(1, 10, 1, "or_greater") var action_repeat := 8
+@export_range(1, 10, 1, "or_greater") var speed_up = 1
 @export var onnx_model_path := ""
 
 @onready var start_time = Time.get_ticks_msec()
@@ -10,7 +10,6 @@ const MAJOR_VERSION := "0"
 const MINOR_VERSION := "3" 
 const DEFAULT_PORT := "11008"
 const DEFAULT_SEED := "1"
-const DEFAULT_ACTION_REPEAT := "8"
 var stream : StreamPeerTCP = null
 var connected = false
 var message_center
@@ -44,17 +43,20 @@ func _initialize():
 	Engine.time_scale = _get_speedup() * 1.0
 	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
 	
-
-	connected = connect_to_server()
-	if connected:
-		_set_heuristic("model")
-		_handshake()
-		_send_env_info()
-	elif onnx_model_path != "":
+	# Run inference if onnx model path is set, otherwise wait for server connection
+	var run_onnx_model_inference : bool = onnx_model_path != ""
+	if run_onnx_model_inference:
+		assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: " + onnx_model_path)
 		onnx_model = ONNXModel.new(onnx_model_path, 1)
 		_set_heuristic("model")
-	else:
-		_set_heuristic("human")  
+	else:		
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model")
+			_handshake()
+			_send_env_info()
+		else:
+			_set_heuristic("human")  
 		
 	_set_seed()
 	_set_action_repeat()
@@ -232,7 +234,7 @@ func _set_seed():
 	seed(_seed)
 
 func _set_action_repeat():
-	action_repeat = args.get("action_repeat", DEFAULT_ACTION_REPEAT).to_int()
+	action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
 	
 func disconnect_from_server():
 	stream.disconnect_from_host()

bin/FPS.exe

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2de407f42a3db0dece9ff075b69219a30493b90c67f0a14bc450b414fba39125
-size 71425536
+oid sha256:910d1661cf406eb788be65369b4784b8bde02dd16e327fac690b501d08e9e886
+size 69051392

bin/FPS.pck

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8f22c230b8eab08fc9e953862834a24849f1fa272ca9ef5369b726081b4bb894
-size 17452512
+oid sha256:e6b978e714972f45467cbc92ef2d560540d318806bcfad736e61eff512c97641
+size 17453776

bin/FPS.x86_64

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:843a1e5f8df1e6b2fe57ff86ca637436c7e1216f8409f2b079090c373548e86f
-size 72784744
+oid sha256:fb6fa01639dd98489aac3e0dd5f9ecf0691b25b37a717f7380b1350d91ed23a4
+size 61637496

main.tscn

@@ -1,14 +1,14 @@
 [gd_scene load_steps=35 format=3 uid="uid://bcdqrmxwwtqio"]
 
 [ext_resource type="Script" path="res://main.gd" id="1_46kri"]
-[ext_resource type="Texture2D" uid="uid://cfbeqr5564bfi" path="res://assets/prototype_textures/PNG/Dark/texture_02.png" id="1_gbd6o"]
-[ext_resource type="Texture2D" uid="uid://c780rrvs38fx4" path="res://assets/prototype_textures/PNG/Dark/texture_01.png" id="1_tqhff"]
+[ext_resource type="Texture2D" uid="uid://dreawusx30mcc" path="res://assets/prototype_textures/PNG/Dark/texture_02.png" id="1_gbd6o"]
+[ext_resource type="Texture2D" uid="uid://be8a55rsgn7dx" path="res://assets/prototype_textures/PNG/Dark/texture_01.png" id="1_tqhff"]
 [ext_resource type="Script" path="res://Objects.gd" id="2_wbkwf"]
-[ext_resource type="Texture2D" uid="uid://ppc4io0fafm1" path="res://assets/prototype_textures/PNG/Red/texture_01.png" id="3_16cyc"]
-[ext_resource type="Texture2D" uid="uid://di5jhcrlhabm5" path="res://assets/prototype_textures/PNG/Dark/texture_13.png" id="3_iiro4"]
-[ext_resource type="Texture2D" uid="uid://l4h6lydg5yh1" path="res://assets/prototype_textures/PNG/Purple/texture_01.png" id="4_dfkyr"]
-[ext_resource type="Texture2D" uid="uid://svxprogaj6er" path="res://assets/prototype_textures/PNG/Orange/texture_01.png" id="4_gfq4c"]
-[ext_resource type="Texture2D" uid="uid://c2n22yubjk0do" path="res://assets/prototype_textures/PNG/Green/texture_01.png" id="7_wu0n4"]
+[ext_resource type="Texture2D" uid="uid://cjk77jctcs1x6" path="res://assets/prototype_textures/PNG/Red/texture_01.png" id="3_16cyc"]
+[ext_resource type="Texture2D" uid="uid://bmpbyv1gjufhv" path="res://assets/prototype_textures/PNG/Dark/texture_13.png" id="3_iiro4"]
+[ext_resource type="Texture2D" uid="uid://dmmaecg6quxrk" path="res://assets/prototype_textures/PNG/Purple/texture_01.png" id="4_dfkyr"]
+[ext_resource type="Texture2D" uid="uid://dj2uiciie2iqt" path="res://assets/prototype_textures/PNG/Orange/texture_01.png" id="4_gfq4c"]
+[ext_resource type="Texture2D" uid="uid://btcy1cyimq1m5" path="res://assets/prototype_textures/PNG/Green/texture_01.png" id="7_wu0n4"]
 [ext_resource type="Script" path="res://SpawnPoint.gd" id="10_4gs1i"]
 [ext_resource type="Script" path="res://FlyCam.gd" id="10_faad2"]
 [ext_resource type="Script" path="res://OrbitCam.gd" id="11_gr5me"]

managers/camera_manager.gd

@@ -11,7 +11,7 @@ func register_player(player):
 	player_camera_slots.append(player)
 
 
-func _process(delta):
+func _process(_delta):
 	
 	if Input.is_action_just_pressed("toggle_next_player"):
 		prints("toggle_next_player", current_id)

player.gd

@@ -15,7 +15,7 @@ const JUMP_VELOCITY : float = 4.5
 @onready var third_person_camera : Camera3D = $CameraPivot/ThirdPersonCamera3d
 @onready var camera_raycast : RayCast3D = $CameraPivot/FirstPersonCamera3d/RayCast3D
 @onready var Proj = preload("res://projectile.tscn")
-@onready var ai_controller: AIController = $CameraPivot/AIController
+@onready var ai_controller: AIController3D = $CameraPivot/AIController
 @onready var health_system = $HealthSystem
 
 # Get the gravity from the project settings to be synced with RigidBody nodes.

player.tscn

@@ -45,9 +45,10 @@ current = true
 [node name="RayCast3D" type="RayCast3D" parent="CameraPivot/FirstPersonCamera3d"]
 target_position = Vector3(0, 0, -100)
 
-[node name="AIController" type="Node3D" parent="CameraPivot" groups=["AGENT"]]
+[node name="AIController" type="Node3D" parent="CameraPivot"]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1.40586, 0.0894096)
 script = ExtResource("5_mm0y5")
+reset_after = 0
 
 [node name="WideRaycastSensor" type="Node3D" parent="CameraPivot/AIController"]
 transform = Transform3D(-1, 0, -8.74228e-08, -1.77636e-15, 1, 0, 8.74228e-08, 0, -1, 0, 1.54159, -0.124174)

project.godot

@@ -8,93 +8,11 @@
 
 config_version=5
 
-_global_script_classes=[{
-"base": "Node3D",
-"class": &"AIController",
-"language": &"GDScript",
-"path": "res://AIController.gd"
-}, {
-"base": "Node3D",
-"class": &"CharacterModel",
-"language": &"GDScript",
-"path": "res://tbot_model.gd"
-}, {
-"base": "Node2D",
-"class": &"ISensor2D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd"
-}, {
-"base": "Node3D",
-"class": &"ISensor3D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd"
-}, {
-"base": "CharacterBody3D",
-"class": &"Player",
-"language": &"GDScript",
-"path": "res://player.gd"
-}, {
-"base": "Area3D",
-"class": &"PlayerHitBox",
-"language": &"GDScript",
-"path": "res://PlayerHitBox.gd"
-}, {
-"base": "State",
-"class": &"PlayerState",
-"language": &"GDScript",
-"path": "res://state_machine/player_state.gd"
-}, {
-"base": "Node3D",
-"class": &"Projectile",
-"language": &"GDScript",
-"path": "res://projectile.gd"
-}, {
-"base": "Node3D",
-"class": &"RGBCameraSensor3D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd"
-}, {
-"base": "ISensor3D",
-"class": &"RayCastSensor3D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd"
-}, {
-"base": "ISensor2D",
-"class": &"RaycastSensor2D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd"
-}, {
-"base": "Node",
-"class": &"State",
-"language": &"GDScript",
-"path": "res://state_machine/state.gd"
-}, {
-"base": "Node",
-"class": &"StateMachine",
-"language": &"GDScript",
-"path": "res://state_machine/state_machine.gd"
-}]
-_global_script_class_icons={
-"AIController": "",
-"CharacterModel": "",
-"ISensor2D": "",
-"ISensor3D": "",
-"Player": "",
-"PlayerHitBox": "",
-"PlayerState": "",
-"Projectile": "",
-"RGBCameraSensor3D": "",
-"RayCastSensor3D": "",
-"RaycastSensor2D": "",
-"State": "",
-"StateMachine": ""
-}
-
 [application]
 
 config/name="FPS"
 run/main_scene="res://train.tscn"
-config/features=PackedStringArray("4.0")
+config/features=PackedStringArray("4.1")
 config/icon="res://icon.svg"
 
 [autoload]
@@ -102,85 +20,89 @@ config/icon="res://icon.svg"
 CameraManager="*res://managers/camera_manager.gd"
 GameManager="*res://managers/game_manager.gd"
 
+[dotnet]
+
+project/assembly_name="FPS"
+
 [editor_plugins]
 
-enabled=PackedStringArray()
+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":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 move_right={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 move_forward={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 move_backward={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 jump={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":32,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":32,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 shoot={
 "deadzone": 0.5,
-"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":1,"pressed":false,"double_click":false,"script":null)
+"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":1,"canceled":false,"pressed":false,"double_click":false,"script":null)
 ]
 }
 toggle_next_player={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 toggle_previous_player={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194319,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194319,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 toggle_first_person_camera={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194320,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194320,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 toggle_third_person_camera={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194322,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194322,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 toggle_flycam={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":67,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":67,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 cam_down={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194326,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194326,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 cam_up={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":32,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":32,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 human_control={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":72,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":72,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 toggle_orbitcam={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":79,"unicode":0,"echo":false,"script":null)
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":79,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 

projectile.gd

@@ -32,7 +32,7 @@ func _on_projectile_area_entered(area):
 	#explode()  
 	queue_free()
 
-func _on_body_entered(body):
+func _on_body_entered(_body):
 	#explode()
 	queue_free()
 
@@ -44,5 +44,5 @@ func explode():
 	proj_impact.set_as_top_level(true)
 
 
-func _on_area_shape_entered(area_rid, area, area_shape_index, local_shape_index):
+func _on_area_shape_entered(_area_rid, _area, _area_shape_index, _local_shape_index):
 	queue_free()