diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..0cb742b --- /dev/null +++ b/.gitignore @@ -0,0 +1,188 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +share/python-wheels/ +*.egg-info/ +.installed.cfg +*.egg +MANIFEST + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.nox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*.cover +*.py,cover +.hypothesis/ +.pytest_cache/ +cover/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py +db.sqlite3 +db.sqlite3-journal + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +.pybuilder/ +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# IPython +profile_default/ +ipython_config.py + +# pyenv +# For a library or package, you might want to ignore these files since the code is +# intended to run in multiple environments; otherwise, check them in: +# .python-version + +# pipenv +# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. +# However, in case of collaboration, if having platform-specific dependencies or dependencies +# having no cross-platform support, pipenv may install dependencies that don't work, or not +# install all needed dependencies. +#Pipfile.lock + +# poetry +# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. +# This is especially recommended for binary packages to ensure reproducibility, and is more +# commonly ignored for libraries. +# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control +#poetry.lock + +# pdm +# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. +#pdm.lock +# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it +# in version control. +# https://pdm.fming.dev/#use-with-ide +.pdm.toml + +# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm +__pypackages__/ + +# Celery stuff +celerybeat-schedule +celerybeat.pid + +# SageMath parsed files +*.sage.py + +# Environments +.env +.venv +env/ +venv/ +ENV/ +env.bak/ +venv.bak/ + +# Spyder project settings +.spyderproject +.spyproject + +# Rope project settings +.ropeproject + +# mkdocs documentation +/site + +# mypy +.mypy_cache/ +.dmypy.json +dmypy.json + +# Pyre type checker +.pyre/ + +# pytype static type analyzer +.pytype/ + +# Cython debug symbols +cython_debug/ + +# PyCharm +# JetBrains specific template is maintained in a separate JetBrains.gitignore that can +# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore +# and can be added to the global gitignore or merged into this file. For a more nuclear +# option (not recommended) you can uncomment the following to ignore the entire idea folder. +#.idea/ + +# Godot +.godot/ +*.x86_64 +*.pck + +# Godot-specific ignores +.import/ +export.cfg +export_presets.cfg + +# Imported translations (automatically generated from CSV files) +*.translation + +# Mono-specific ignores +.mono/ +data_*/ +mono_crash.*.json +.vs/ +*.import + +# Mac bs +.DS_Store + +# Random stuff +__pycache__/ +chkpts/ +figures/ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..bb9b409 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2020 Peter DV + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/addons/Todo_Manager/CONTRIBUTING.md b/addons/Todo_Manager/CONTRIBUTING.md new file mode 100644 index 0000000..5969b61 --- /dev/null +++ b/addons/Todo_Manager/CONTRIBUTING.md @@ -0,0 +1,23 @@ +## Contributing to TODO Manager +Firstly, thank you for being interested in contributing to the Godot TODO Manager plugin! +TODO Manager has benefitted greatly from enthusiastic users who have suggested new features, noticed bugs, and contributed code to the plugin. + +### Code Style Guide +For the sake of clarity, TODO Manager takes advantage of GDScripts optional static typing in most circumstances. +In particular, when declaring variables use colons to infer the type where possible: + +`todo := "#TODO"` + +If the type is not obvious then explicit typing is desirable: + +`items : PoolStringArray = todo.split()` + +Typed arguments and return values for functions are required: +``` +func example(name: String, amount: int) -> Array: + # code + return array_of_names +``` + +For more info on static typing in Godot please refer to the documentation. +https://docs.godotengine.org/en/stable/getting_started/scripting/gdscript/static_typing.html diff --git a/addons/Todo_Manager/ColourPicker.gd b/addons/Todo_Manager/ColourPicker.gd new file mode 100644 index 0000000..39a3f9a --- /dev/null +++ b/addons/Todo_Manager/ColourPicker.gd @@ -0,0 +1,17 @@ +@tool +extends HBoxContainer + +var colour : Color +var title : String: + set = set_title +var index : int + +@onready var colour_picker := $TODOColourPickerButton + +func _ready() -> void: + $TODOColourPickerButton.color = colour + $Label.text = title + +func set_title(value: String) -> void: + title = value + $Label.text = value diff --git a/addons/Todo_Manager/Current.gd b/addons/Todo_Manager/Current.gd new file mode 100644 index 0000000..d3961c9 --- /dev/null +++ b/addons/Todo_Manager/Current.gd @@ -0,0 +1,44 @@ +@tool +extends Panel + +signal tree_built # used for debugging + +const Todo := preload("res://addons/Todo_Manager/todo_class.gd") +const TodoItem := preload("res://addons/Todo_Manager/todoItem_class.gd") + +var _sort_alphabetical := true + +@onready var tree := $Tree as Tree + +func build_tree(todo_item : TodoItem, patterns : Array, cased_patterns : Array[String]) -> void: + tree.clear() + var root := tree.create_item() + root.set_text(0, "Scripts") + var script := tree.create_item(root) + script.set_text(0, todo_item.get_short_path() + " -------") + script.set_metadata(0, todo_item) + for todo in todo_item.todos: + var item := tree.create_item(script) + var content_header : String = todo.content + if "\n" in todo.content: + content_header = content_header.split("\n")[0] + "..." + item.set_text(0, "(%0) - %1".format([todo.line_number, content_header], "%_")) + item.set_tooltip_text(0, todo.content) + item.set_metadata(0, todo) + for i in range(0, len(cased_patterns)): + if cased_patterns[i] == todo.pattern: + item.set_custom_color(0, patterns[i][1]) + emit_signal("tree_built") + + +func sort_alphabetical(a, b) -> bool: + if a.script_path > b.script_path: + return true + else: + return false + +func sort_backwards(a, b) -> bool: + if a.script_path < b.script_path: + return true + else: + return false diff --git a/addons/Todo_Manager/Dock.gd b/addons/Todo_Manager/Dock.gd new file mode 100644 index 0000000..c71b6b2 --- /dev/null +++ b/addons/Todo_Manager/Dock.gd @@ -0,0 +1,297 @@ +@tool +extends Control + +#signal tree_built # used for debugging +enum { CASE_INSENSITIVE, CASE_SENSITIVE } + +const Project := preload("res://addons/Todo_Manager/Project.gd") +const Current := preload("res://addons/Todo_Manager/Current.gd") + +const Todo := preload("res://addons/Todo_Manager/todo_class.gd") +const TodoItem := preload("res://addons/Todo_Manager/todoItem_class.gd") +const ColourPicker := preload("res://addons/Todo_Manager/UI/ColourPicker.tscn") +const Pattern := preload("res://addons/Todo_Manager/UI/Pattern.tscn") +const DEFAULT_PATTERNS := [["\\bTODO\\b", Color("96f1ad"), CASE_INSENSITIVE], ["\\bHACK\\b", Color("d5bc70"), CASE_INSENSITIVE], ["\\bFIXME\\b", Color("d57070"), CASE_INSENSITIVE]] +const DEFAULT_SCRIPT_COLOUR := Color("ccced3") +const DEFAULT_SCRIPT_NAME := false +const DEFAULT_SORT := true + +var plugin : EditorPlugin + +var todo_items : Array + +var script_colour := Color("ccced3") +var ignore_paths : Array[String] = [] +var full_path := false +var auto_refresh := true +var builtin_enabled := false +var _sort_alphabetical := true + +var patterns := [["\\bTODO\\b", Color("96f1ad"), CASE_INSENSITIVE], ["\\bHACK\\b", Color("d5bc70"), CASE_INSENSITIVE], ["\\bFIXME\\b", Color("d57070"), CASE_INSENSITIVE]] + + +@onready var tabs := $VBoxContainer/TabContainer as TabContainer +@onready var project := $VBoxContainer/TabContainer/Project as Project +@onready var current := $VBoxContainer/TabContainer/Current as Current +@onready var project_tree := $VBoxContainer/TabContainer/Project/Tree as Tree +@onready var current_tree := $VBoxContainer/TabContainer/Current/Tree as Tree +@onready var settings_panel := $VBoxContainer/TabContainer/Settings as Panel +@onready var colours_container := $VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer3/Colours as VBoxContainer +@onready var pattern_container := $VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4/Patterns as VBoxContainer +@onready var ignore_textbox := $VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/IgnorePaths/TextEdit as LineEdit +@onready var auto_refresh_button := $VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns/RefreshCheckButton as CheckButton + +func _ready() -> void: + load_config() + populate_settings() + + +func build_tree() -> void: + if tabs: + match tabs.current_tab: + 0: + project.build_tree(todo_items, ignore_paths, patterns, plugin.cased_patterns, _sort_alphabetical, full_path) + create_config_file() + 1: + current.build_tree(get_active_script(), patterns, plugin.cased_patterns) + create_config_file() + 2: + pass + _: + pass + + +func get_active_script() -> TodoItem: + var current_script : Script = plugin.get_editor_interface().get_script_editor().get_current_script() + if current_script: + var script_path = current_script.resource_path + for todo_item in todo_items: + if todo_item.script_path == script_path: + return todo_item + + # nothing found + var todo_item := TodoItem.new(script_path, []) + return todo_item + else: + # not a script + var todo_item := TodoItem.new("res://Documentation", []) + return todo_item + + +func go_to_script(script_path: String, line_number : int = 0) -> void: + if plugin.get_editor_interface().get_editor_settings().get_setting("text_editor/external/use_external_editor"): + var exec_path = plugin.get_editor_interface().get_editor_settings().get_setting("text_editor/external/exec_path") + var args := get_exec_flags(exec_path, script_path, line_number) + OS.execute(exec_path, args) + else: + var script := load(script_path) + plugin.get_editor_interface().edit_resource(script) + plugin.get_editor_interface().get_script_editor().goto_line(line_number - 1) + +func get_exec_flags(editor_path : String, script_path : String, line_number : int) -> PackedStringArray: + var args : PackedStringArray + var script_global_path = ProjectSettings.globalize_path(script_path) + + if editor_path.ends_with("code.cmd") or editor_path.ends_with("code"): ## VS Code + args.append(ProjectSettings.globalize_path("res://")) + args.append("--goto") + args.append(script_global_path + ":" + str(line_number)) + + elif editor_path.ends_with("rider64.exe") or editor_path.ends_with("rider"): ## Rider + args.append("--line") + args.append(str(line_number)) + args.append(script_global_path) + + else: ## Atom / Sublime + args.append(script_global_path + ":" + str(line_number)) + + return args + +func sort_alphabetical(a, b) -> bool: + if a.script_path > b.script_path: + return true + else: + return false + +func sort_backwards(a, b) -> bool: + if a.script_path < b.script_path: + return true + else: + return false + + +func populate_settings() -> void: + for i in patterns.size(): + ## Create Colour Pickers + var colour_picker: Variant = ColourPicker.instantiate() + colour_picker.colour = patterns[i][1] + colour_picker.title = patterns[i][0] + colour_picker.index = i + colours_container.add_child(colour_picker) + colour_picker.colour_picker.color_changed.connect(change_colour.bind(i)) + + ## Create Patterns + var pattern_edit: Variant = Pattern.instantiate() + pattern_edit.text = patterns[i][0] + pattern_edit.index = i + pattern_container.add_child(pattern_edit) + pattern_edit.line_edit.text_changed.connect(change_pattern.bind(i, + colour_picker)) + pattern_edit.remove_button.pressed.connect(remove_pattern.bind(i, + pattern_edit, colour_picker)) + pattern_edit.case_checkbox.button_pressed = patterns[i][2] + pattern_edit.case_checkbox.toggled.connect(case_sensitive_pattern.bind(i)) + + var pattern_button := $VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4/Patterns/AddPatternButton + $VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4/Patterns.move_child(pattern_button, 0) + + # path filtering + var ignore_paths_field := ignore_textbox + if not ignore_paths_field.is_connected("text_changed", _on_ignore_paths_changed): + ignore_paths_field.connect("text_changed", _on_ignore_paths_changed) + var ignore_paths_text := "" + for path in ignore_paths: + ignore_paths_text += path + ", " + ignore_paths_text = ignore_paths_text.trim_suffix(", ") + ignore_paths_field.text = ignore_paths_text + + auto_refresh_button.button_pressed = auto_refresh + + +func rebuild_settings() -> void: + for node in colours_container.get_children(): + node.queue_free() + for node in pattern_container.get_children(): + if node is Button: + continue + node.queue_free() + populate_settings() + + +#### CONFIG FILE #### +func create_config_file() -> void: + var config = ConfigFile.new() + config.set_value("scripts", "full_path", full_path) + config.set_value("scripts", "sort_alphabetical", _sort_alphabetical) + config.set_value("scripts", "script_colour", script_colour) + config.set_value("scripts", "ignore_paths", ignore_paths) + + config.set_value("patterns", "patterns", patterns) + + config.set_value("config", "auto_refresh", auto_refresh) + config.set_value("config", "builtin_enabled", builtin_enabled) + + var err = config.save("res://addons/Todo_Manager/todo.cfg") + + +func load_config() -> void: + var config := ConfigFile.new() + if config.load("res://addons/Todo_Manager/todo.cfg") == OK: + full_path = config.get_value("scripts", "full_path", DEFAULT_SCRIPT_NAME) + _sort_alphabetical = config.get_value("scripts", "sort_alphabetical", DEFAULT_SORT) + script_colour = config.get_value("scripts", "script_colour", DEFAULT_SCRIPT_COLOUR) + ignore_paths = config.get_value("scripts", "ignore_paths", [] as Array[String]) + patterns = config.get_value("patterns", "patterns", DEFAULT_PATTERNS) + auto_refresh = config.get_value("config", "auto_refresh", true) + builtin_enabled = config.get_value("config", "builtin_enabled", false) + else: + create_config_file() + + +#### Events #### +func _on_SettingsButton_toggled(button_pressed: bool) -> void: + settings_panel.visible = button_pressed + if button_pressed == false: + create_config_file() +# plugin.find_tokens_from_path(plugin.script_cache) + if auto_refresh: + plugin.rescan_files(true) + +func _on_Tree_item_activated() -> void: + var item : TreeItem + match tabs.current_tab: + 0: + item = project_tree.get_selected() + 1: + item = current_tree.get_selected() + if item.get_metadata(0) is Todo: + var todo : Todo = item.get_metadata(0) + call_deferred("go_to_script", todo.script_path, todo.line_number) + else: + var todo_item = item.get_metadata(0) + call_deferred("go_to_script", todo_item.script_path) + +func _on_FullPathCheckBox_toggled(button_pressed: bool) -> void: + full_path = button_pressed + +func _on_ScriptColourPickerButton_color_changed(color: Color) -> void: + script_colour = color + +func _on_RescanButton_pressed() -> void: + plugin.rescan_files(true) + +func change_colour(colour: Color, index: int) -> void: + patterns[index][1] = colour + +func change_pattern(value: String, index: int, this_colour: Node) -> void: + patterns[index][0] = value + this_colour.title = value + plugin.rescan_files(true) + +func remove_pattern(index: int, this: Node, this_colour: Node) -> void: + patterns.remove_at(index) + this.queue_free() + this_colour.queue_free() + plugin.rescan_files(true) + +func case_sensitive_pattern(active: bool, index: int) -> void: + if active: + patterns[index][2] = CASE_SENSITIVE + else: + patterns[index][2] = CASE_INSENSITIVE + plugin.rescan_files(true) + +func _on_DefaultButton_pressed() -> void: + patterns = DEFAULT_PATTERNS.duplicate(true) + _sort_alphabetical = DEFAULT_SORT + script_colour = DEFAULT_SCRIPT_COLOUR + full_path = DEFAULT_SCRIPT_NAME + rebuild_settings() + plugin.rescan_files(true) + +func _on_AlphSortCheckBox_toggled(button_pressed: bool) -> void: + _sort_alphabetical = button_pressed + plugin.rescan_files(true) + +func _on_AddPatternButton_pressed() -> void: + patterns.append(["\\bplaceholder\\b", Color.WHITE, CASE_INSENSITIVE]) + rebuild_settings() + +func _on_RefreshCheckButton_toggled(button_pressed: bool) -> void: + auto_refresh = button_pressed + +func _on_Timer_timeout() -> void: + plugin.refresh_lock = false + +func _on_ignore_paths_changed(new_text: String) -> void: + var text = ignore_textbox.text + var split: Array = text.split(',') + ignore_paths.clear() + for elem in split: + if elem == " " || elem == "": + continue + ignore_paths.push_front(elem.lstrip(' ').rstrip(' ')) + # validate so no empty string slips through (all paths ignored) + var i := 0 + for path in ignore_paths: + if (path == "" || path == " "): + ignore_paths.remove_at(i) + i += 1 + plugin.rescan_files(true) + +func _on_TabContainer_tab_changed(tab: int) -> void: + build_tree() + +func _on_BuiltInCheckButton_toggled(button_pressed: bool) -> void: + builtin_enabled = button_pressed + plugin.rescan_files(true) diff --git a/addons/Todo_Manager/Pattern.gd b/addons/Todo_Manager/Pattern.gd new file mode 100644 index 0000000..4e610af --- /dev/null +++ b/addons/Todo_Manager/Pattern.gd @@ -0,0 +1,21 @@ +@tool +extends HBoxContainer + + +var text : String : set = set_text +var disabled : bool +var index : int + +@onready var line_edit := $LineEdit as LineEdit +@onready var remove_button := $RemoveButton as Button +@onready var case_checkbox := %CaseSensativeCheckbox as CheckBox + +func _ready() -> void: + line_edit.text = text + remove_button.disabled = disabled + + +func set_text(value: String) -> void: + text = value + if line_edit: + line_edit.text = value diff --git a/addons/Todo_Manager/Project.gd b/addons/Todo_Manager/Project.gd new file mode 100644 index 0000000..4af0847 --- /dev/null +++ b/addons/Todo_Manager/Project.gd @@ -0,0 +1,73 @@ +@tool +extends Panel + +signal tree_built # used for debugging + +const Todo := preload("res://addons/Todo_Manager/todo_class.gd") + +var _sort_alphabetical := true +var _full_path := false + +@onready var tree := $Tree as Tree + +func build_tree(todo_items : Array, ignore_paths : Array, patterns : Array, cased_patterns: Array[String], sort_alphabetical : bool, full_path : bool) -> void: + _full_path = full_path + tree.clear() + if sort_alphabetical: + todo_items.sort_custom(Callable(self, "sort_alphabetical")) + else: + todo_items.sort_custom(Callable(self, "sort_backwards")) + var root := tree.create_item() + root.set_text(0, "Scripts") + for todo_item in todo_items: + var ignore := false + for ignore_path in ignore_paths: + var script_path : String = todo_item.script_path + if script_path.begins_with(ignore_path) or script_path.begins_with("res://" + ignore_path) or script_path.begins_with("res:///" + ignore_path): + ignore = true + break + if ignore: + continue + var script := tree.create_item(root) + if full_path: + script.set_text(0, todo_item.script_path + " -------") + else: + script.set_text(0, todo_item.get_short_path() + " -------") + script.set_metadata(0, todo_item) + for todo in todo_item.todos: + var item := tree.create_item(script) + var content_header : String = todo.content + if "\n" in todo.content: + content_header = content_header.split("\n")[0] + "..." + item.set_text(0, "(%0) - %1".format([todo.line_number, content_header], "%_")) + item.set_tooltip_text(0, todo.content) + item.set_metadata(0, todo) + for i in range(0, len(cased_patterns)): + if cased_patterns[i] == todo.pattern: + item.set_custom_color(0, patterns[i][1]) + emit_signal("tree_built") + + +func sort_alphabetical(a, b) -> bool: + if _full_path: + if a.script_path < b.script_path: + return true + else: + return false + else: + if a.get_short_path() < b.get_short_path(): + return true + else: + return false + +func sort_backwards(a, b) -> bool: + if _full_path: + if a.script_path > b.script_path: + return true + else: + return false + else: + if a.get_short_path() > b.get_short_path(): + return true + else: + return false diff --git a/addons/Todo_Manager/README.md b/addons/Todo_Manager/README.md new file mode 100644 index 0000000..b723248 --- /dev/null +++ b/addons/Todo_Manager/README.md @@ -0,0 +1,60 @@ + +### Localised READMEs + - [简体中文](READMECN.md) (Simplified Chinese) + + +# TODO Manager + +![example_image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/example1.png) + +## Simple and flexible + +- Supports GDScript, C# and GDNative +- Seamlessly integrated into the Godot dock +- Lenient syntax. Write TODOs that suit your style +- Quickly jump to lines and launch external editors + +## Customizable + +![settings_example](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/example2.png) + +- Add your own RegEx patterns +- Set colours to your liking + +## Installation + +### Method 1 (Godot Asset Library) + +The most simple way to get started using TODO Manager is to use Godot's inbuilt Asset Library to install the plugin into your project. + +#### Step 1 + +Find TODO Manager in the Godot Asset Library. +![AssetLib image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct1.png) + +#### Step 2 + +Install the package. You may want to untick the /doc folder at this point as it is not necessary for the functions of the plugin. +![Filestrcture image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct3.png) + +#### Step 4 + +Enable the plugin in the project settings. +![Project image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct4.png) + +### Method 2 (GitHub) + +#### Step 1 + +Click Download ZIP from the 'Code' dropdown. +![GitHub image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct5.png) + +#### Step 2 + +- Unzip the file and add it into your project folder. Make sure 'addons' is a subdirectory of res:// +- DO NOT change the name of the 'addons' or 'Todo_Manager' folders as this will break the saving and loading of your settings. + +#### Step 3 + +Enable the plugin in the project settings. +![Project image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct4.png) diff --git a/addons/Todo_Manager/READMECN.md b/addons/Todo_Manager/READMECN.md new file mode 100644 index 0000000..7a248c8 --- /dev/null +++ b/addons/Todo_Manager/READMECN.md @@ -0,0 +1,56 @@ +# TODO Manager + + ![example_image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/example1.png) + +## 简单而灵活 + +- 支持 GDScript，C# 和 GDNative。 +- 无缝集成到 Godot dock 栏。 +- 宽松的语法，用适合你自己的风格写TODOs。 +- 快速跳转到某一行并启用外部编辑器。 + +## 可定制 + +![settings_example](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/example2.png) + +- 添加你自己的正则表达式。 +- 设置你喜欢的颜色。 + +## 安装 + +### 方法一 (Godot Asset Library) + +最简单的使用 TODO Manager 的方法，使用 Godot 内置的资源商店（Asset Library）来安装这个插件到你的项目。 + +#### 第一步 + +在资源商店搜索 TODO Manager。 +![AssetLib image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct1.png) + +#### 第二步 + +安装下载的插件，你可能需要取消勾选 /doc 文件夹，因为插件的功能不需要。 +![Filestrcture image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct3.png) + +#### 第三步 + +在项目设置里启用插件。 +![Project image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct4.png) + +### 方法二 (GitHub) + +#### 第一步 + +点击 Download ZIP。 +![GitHub image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct5.png) + +#### 第二步 + +- 解压文件并且放到你的项目文件夹。确保 “addons” 是 res:// 的子文件夹。 +- DO NOT change the name of the 'addons' or 'Todo_Manager' folders as this will break the saving and loading of your settings. +- 不要更改 “addons” 或 “Todo_Manager” 文件夹的名称，因为这会打破预设的保存和加载。 + +#### 第三步 + +在项目设置里启用这个插件。 +![Project image](https://github.com/OrigamiDev-Pete/TODO_Manager/blob/main/addons/Todo_Manager/doc/images/Instruct4.png) diff --git a/addons/Todo_Manager/UI/ColourPicker.tscn b/addons/Todo_Manager/UI/ColourPicker.tscn new file mode 100644 index 0000000..650899f --- /dev/null +++ b/addons/Todo_Manager/UI/ColourPicker.tscn @@ -0,0 +1,21 @@ +[gd_scene load_steps=2 format=3 uid="uid://bie1xn8v1kd66"] + +[ext_resource type="Script" path="res://addons/Todo_Manager/ColourPicker.gd" id="1"] + +[node name="TODOColour" type="HBoxContainer"] +offset_right = 105.0 +offset_bottom = 31.0 +script = ExtResource("1") +metadata/_edit_use_custom_anchors = false + +[node name="Label" type="Label" parent="."] +offset_top = 4.0 +offset_right = 1.0 +offset_bottom = 27.0 + +[node name="TODOColourPickerButton" type="ColorPickerButton" parent="."] +custom_minimum_size = Vector2(40, 0) +offset_left = 65.0 +offset_right = 105.0 +offset_bottom = 31.0 +size_flags_horizontal = 10 diff --git a/addons/Todo_Manager/UI/Dock.tscn b/addons/Todo_Manager/UI/Dock.tscn new file mode 100644 index 0000000..096662a --- /dev/null +++ b/addons/Todo_Manager/UI/Dock.tscn @@ -0,0 +1,315 @@ +[gd_scene load_steps=6 format=3 uid="uid://b6k0dtftankcx"] + +[ext_resource type="Script" path="res://addons/Todo_Manager/Dock.gd" id="1"] +[ext_resource type="Script" path="res://addons/Todo_Manager/Project.gd" id="2"] +[ext_resource type="Script" path="res://addons/Todo_Manager/Current.gd" id="3"] + +[sub_resource type="ButtonGroup" id="ButtonGroup_kqxcu"] + +[sub_resource type="ButtonGroup" id="ButtonGroup_kltg3"] + +[node name="Dock" type="Control"] +custom_minimum_size = Vector2(0, 200) +layout_mode = 3 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +grow_horizontal = 2 +grow_vertical = 2 +size_flags_vertical = 3 +script = ExtResource("1") + +[node name="VBoxContainer" type="VBoxContainer" parent="."] +layout_mode = 1 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +offset_top = 4.0 +grow_horizontal = 2 +grow_vertical = 2 +metadata/_edit_layout_mode = 1 + +[node name="Header" type="HBoxContainer" parent="VBoxContainer"] +visible = false +layout_mode = 2 + +[node name="HeaderLeft" type="HBoxContainer" parent="VBoxContainer/Header"] +layout_mode = 2 +size_flags_horizontal = 3 + +[node name="Title" type="Label" parent="VBoxContainer/Header/HeaderLeft"] +layout_mode = 2 +text = "Todo Dock:" + +[node name="HeaderRight" type="HBoxContainer" parent="VBoxContainer/Header"] +layout_mode = 2 +size_flags_horizontal = 3 +alignment = 2 + +[node name="SettingsButton" type="Button" parent="VBoxContainer/Header/HeaderRight"] +visible = false +layout_mode = 2 +toggle_mode = true +text = "Settings" + +[node name="TabContainer" type="TabContainer" parent="VBoxContainer"] +layout_mode = 2 +size_flags_vertical = 3 + +[node name="Project" type="Panel" parent="VBoxContainer/TabContainer"] +layout_mode = 2 +size_flags_horizontal = 3 +size_flags_vertical = 3 +script = ExtResource("2") + +[node name="Tree" type="Tree" parent="VBoxContainer/TabContainer/Project"] +layout_mode = 1 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +grow_horizontal = 2 +grow_vertical = 2 +hide_root = true + +[node name="Current" type="Panel" parent="VBoxContainer/TabContainer"] +visible = false +layout_mode = 2 +size_flags_horizontal = 3 +size_flags_vertical = 3 +script = ExtResource("3") + +[node name="Tree" type="Tree" parent="VBoxContainer/TabContainer/Current"] +layout_mode = 1 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +grow_horizontal = 2 +grow_vertical = 2 +hide_folding = true +hide_root = true + +[node name="Settings" type="Panel" parent="VBoxContainer/TabContainer"] +visible = false +layout_mode = 2 + +[node name="ScrollContainer" type="ScrollContainer" parent="VBoxContainer/TabContainer/Settings"] +layout_mode = 1 +anchors_preset = 15 +anchor_right = 1.0 +anchor_bottom = 1.0 +grow_horizontal = 2 +grow_vertical = 2 + +[node name="MarginContainer" type="MarginContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer"] +layout_mode = 2 +size_flags_horizontal = 3 +size_flags_vertical = 3 + +[node name="VBoxContainer" type="VBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer"] +layout_mode = 2 +size_flags_horizontal = 3 +size_flags_vertical = 3 + +[node name="Scripts" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/Scripts"] +layout_mode = 2 +text = "Scripts:" + +[node name="HSeparator" type="HSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/Scripts"] +layout_mode = 2 +size_flags_horizontal = 3 + +[node name="VBoxContainer" type="VBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 +size_flags_horizontal = 5 + +[node name="HBoxContainer2" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer"] +layout_mode = 2 + +[node name="VSeparator" type="VSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2"] +layout_mode = 2 + +[node name="Scripts" type="VBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2"] +layout_mode = 2 + +[node name="ScriptName" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptName"] +layout_mode = 2 +text = "Script Name:" + +[node name="FullPathCheckBox" type="CheckBox" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptName"] +layout_mode = 2 +button_group = SubResource("ButtonGroup_kqxcu") +text = "Full path" + +[node name="ShortNameCheckBox" type="CheckBox" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptName"] +layout_mode = 2 +button_pressed = true +button_group = SubResource("ButtonGroup_kqxcu") +text = "Short name" + +[node name="ScriptSort" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptSort"] +layout_mode = 2 +text = "Sort Order:" + +[node name="AlphSortCheckBox" type="CheckBox" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptSort"] +layout_mode = 2 +button_pressed = true +button_group = SubResource("ButtonGroup_kltg3") +text = "Alphabetical" + +[node name="RAlphSortCheckBox" type="CheckBox" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptSort"] +layout_mode = 2 +button_group = SubResource("ButtonGroup_kltg3") +text = "Reverse Alphabetical" + +[node name="ScriptColour" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptColour"] +layout_mode = 2 +text = "Script Colour:" + +[node name="ScriptColourPickerButton" type="ColorPickerButton" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptColour"] +custom_minimum_size = Vector2(40, 0) +layout_mode = 2 +color = Color(0.8, 0.807843, 0.827451, 1) + +[node name="IgnorePaths" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/IgnorePaths"] +layout_mode = 2 +text = "Ignore Paths:" + +[node name="TextEdit" type="LineEdit" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/IgnorePaths"] +custom_minimum_size = Vector2(100, 0) +layout_mode = 2 +expand_to_text_length = true + +[node name="Label3" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/IgnorePaths"] +layout_mode = 2 +text = "(Separated by commas)" + +[node name="TODOColours" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/TODOColours"] +layout_mode = 2 +text = "TODO Colours:" + +[node name="HSeparator" type="HSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/TODOColours"] +layout_mode = 2 +size_flags_horizontal = 3 + +[node name="HBoxContainer3" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="VSeparator" type="VSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer3"] +layout_mode = 2 + +[node name="Colours" type="VBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer3"] +layout_mode = 2 + +[node name="Patterns" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/Patterns"] +layout_mode = 2 +text = "Patterns:" + +[node name="HSeparator" type="HSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/Patterns"] +layout_mode = 2 +size_flags_horizontal = 3 + +[node name="HBoxContainer4" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="VSeparator" type="VSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4"] +layout_mode = 2 + +[node name="Patterns" type="VBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4"] +layout_mode = 2 +size_flags_horizontal = 3 + +[node name="AddPatternButton" type="Button" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4/Patterns"] +layout_mode = 2 +size_flags_horizontal = 0 +text = "Add" + +[node name="Config" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/Config"] +layout_mode = 2 +text = "Config:" + +[node name="HSeparator" type="HSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/Config"] +layout_mode = 2 +size_flags_horizontal = 3 + +[node name="HBoxContainer5" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer"] +layout_mode = 2 + +[node name="VSeparator" type="VSeparator" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5"] +layout_mode = 2 + +[node name="Patterns" type="VBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5"] +layout_mode = 2 + +[node name="RefreshCheckButton" type="CheckButton" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns"] +layout_mode = 2 +size_flags_horizontal = 0 +button_pressed = true +text = "Auto Refresh" + +[node name="HBoxContainer" type="HBoxContainer" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns"] +layout_mode = 2 + +[node name="BuiltInCheckButton" type="CheckButton" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns/HBoxContainer"] +layout_mode = 2 +text = "Scan Built-in Scripts" + +[node name="Label" type="Label" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns/HBoxContainer"] +layout_mode = 2 + +[node name="DefaultButton" type="Button" parent="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns"] +layout_mode = 2 +size_flags_horizontal = 0 +text = "Reset to default" + +[node name="Timer" type="Timer" parent="."] +one_shot = true + +[node name="RescanButton" type="Button" parent="."] +layout_mode = 1 +anchors_preset = 1 +anchor_left = 1.0 +anchor_right = 1.0 +offset_left = -102.0 +offset_top = 3.0 +offset_bottom = 34.0 +grow_horizontal = 0 +text = "Rescan Files" +flat = true + +[connection signal="toggled" from="VBoxContainer/Header/HeaderRight/SettingsButton" to="." method="_on_SettingsButton_toggled"] +[connection signal="tab_changed" from="VBoxContainer/TabContainer" to="." method="_on_TabContainer_tab_changed"] +[connection signal="item_activated" from="VBoxContainer/TabContainer/Project/Tree" to="." method="_on_Tree_item_activated"] +[connection signal="item_activated" from="VBoxContainer/TabContainer/Current/Tree" to="." method="_on_Tree_item_activated"] +[connection signal="toggled" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptName/FullPathCheckBox" to="." method="_on_FullPathCheckBox_toggled"] +[connection signal="toggled" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptSort/AlphSortCheckBox" to="." method="_on_AlphSortCheckBox_toggled"] +[connection signal="color_changed" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/VBoxContainer/HBoxContainer2/Scripts/ScriptColour/ScriptColourPickerButton" to="." method="_on_ScriptColourPickerButton_color_changed"] +[connection signal="pressed" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer4/Patterns/AddPatternButton" to="." method="_on_AddPatternButton_pressed"] +[connection signal="toggled" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns/RefreshCheckButton" to="." method="_on_RefreshCheckButton_toggled"] +[connection signal="toggled" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns/HBoxContainer/BuiltInCheckButton" to="." method="_on_BuiltInCheckButton_toggled"] +[connection signal="pressed" from="VBoxContainer/TabContainer/Settings/ScrollContainer/MarginContainer/VBoxContainer/HBoxContainer5/Patterns/DefaultButton" to="." method="_on_DefaultButton_pressed"] +[connection signal="timeout" from="Timer" to="." method="_on_Timer_timeout"] +[connection signal="pressed" from="RescanButton" to="." method="_on_RescanButton_pressed"] diff --git a/addons/Todo_Manager/UI/Pattern.tscn b/addons/Todo_Manager/UI/Pattern.tscn new file mode 100644 index 0000000..fb45615 --- /dev/null +++ b/addons/Todo_Manager/UI/Pattern.tscn @@ -0,0 +1,26 @@ +[gd_scene load_steps=2 format=3 uid="uid://bx11sel2q5wli"] + +[ext_resource type="Script" path="res://addons/Todo_Manager/Pattern.gd" id="1"] + +[node name="Pattern" type="HBoxContainer"] +script = ExtResource("1") + +[node name="LineEdit" type="LineEdit" parent="."] +layout_mode = 2 +size_flags_horizontal = 0 +expand_to_text_length = true + +[node name="RemoveButton" type="Button" parent="."] +layout_mode = 2 +text = "-" + +[node name="MarginContainer" type="MarginContainer" parent="."] +custom_minimum_size = Vector2(20, 0) +layout_mode = 2 +size_flags_horizontal = 0 + +[node name="CaseSensativeCheckbox" type="CheckBox" parent="."] +unique_name_in_owner = true +layout_mode = 2 +size_flags_horizontal = 0 +text = "Case Sensitive" diff --git a/addons/Todo_Manager/doc/example.gd b/addons/Todo_Manager/doc/example.gd new file mode 100644 index 0000000..859bbba --- /dev/null +++ b/addons/Todo_Manager/doc/example.gd @@ -0,0 +1,7 @@ +extends Node + +# TODO: this is a TODO +# HACK: this is a HACK +# FIXME: this is a FIXME +# TODO this works too +#Hack any format will do diff --git a/addons/Todo_Manager/doc/images/Instruct1.png b/addons/Todo_Manager/doc/images/Instruct1.png new file mode 100644 index 0000000..99a8db0 Binary files /dev/null and b/addons/Todo_Manager/doc/images/Instruct1.png differ diff --git a/addons/Todo_Manager/doc/images/Instruct2.png b/addons/Todo_Manager/doc/images/Instruct2.png new file mode 100644 index 0000000..83798f9 Binary files /dev/null and b/addons/Todo_Manager/doc/images/Instruct2.png differ diff --git a/addons/Todo_Manager/doc/images/Instruct3.png b/addons/Todo_Manager/doc/images/Instruct3.png new file mode 100644 index 0000000..283c604 Binary files /dev/null and b/addons/Todo_Manager/doc/images/Instruct3.png differ diff --git a/addons/Todo_Manager/doc/images/Instruct4.png b/addons/Todo_Manager/doc/images/Instruct4.png new file mode 100644 index 0000000..66ef1c9 Binary files /dev/null and b/addons/Todo_Manager/doc/images/Instruct4.png differ diff --git a/addons/Todo_Manager/doc/images/Instruct5.png b/addons/Todo_Manager/doc/images/Instruct5.png new file mode 100644 index 0000000..d418faf Binary files /dev/null and b/addons/Todo_Manager/doc/images/Instruct5.png differ diff --git a/addons/Todo_Manager/doc/images/TODO_Manager_Logo.png b/addons/Todo_Manager/doc/images/TODO_Manager_Logo.png new file mode 100644 index 0000000..6d19fee Binary files /dev/null and b/addons/Todo_Manager/doc/images/TODO_Manager_Logo.png differ diff --git a/addons/Todo_Manager/doc/images/TodoExternal.gif b/addons/Todo_Manager/doc/images/TodoExternal.gif new file mode 100644 index 0000000..25d0850 Binary files /dev/null and b/addons/Todo_Manager/doc/images/TodoExternal.gif differ diff --git a/addons/Todo_Manager/doc/images/example1.png b/addons/Todo_Manager/doc/images/example1.png new file mode 100644 index 0000000..786bd15 Binary files /dev/null and b/addons/Todo_Manager/doc/images/example1.png differ diff --git a/addons/Todo_Manager/doc/images/example2.png b/addons/Todo_Manager/doc/images/example2.png new file mode 100644 index 0000000..256d754 Binary files /dev/null and b/addons/Todo_Manager/doc/images/example2.png differ diff --git a/addons/Todo_Manager/plugin.cfg b/addons/Todo_Manager/plugin.cfg new file mode 100644 index 0000000..256be46 --- /dev/null +++ b/addons/Todo_Manager/plugin.cfg @@ -0,0 +1,7 @@ +[plugin] + +name="Todo Manager" +description="Dock for housing TODO messages." +author="Peter de Vroom" +version="2.3.1" +script="plugin.gd" diff --git a/addons/Todo_Manager/plugin.gd b/addons/Todo_Manager/plugin.gd new file mode 100644 index 0000000..511458d --- /dev/null +++ b/addons/Todo_Manager/plugin.gd @@ -0,0 +1,286 @@ +@tool +extends EditorPlugin + +const DockScene := preload("res://addons/Todo_Manager/UI/Dock.tscn") +const Dock := preload("res://addons/Todo_Manager/Dock.gd") +const Todo := preload("res://addons/Todo_Manager/todo_class.gd") +const TodoItem := preload("res://addons/Todo_Manager/todoItem_class.gd") + +var _dockUI : Dock + +class TodoCacheValue: + var todos: Array + var last_modified_time: int + + func _init(todos: Array, last_modified_time: int): + self.todos = todos + self.last_modified_time = last_modified_time + +var todo_cache : Dictionary # { key: script_path, value: TodoCacheValue } +var remove_queue : Array +var combined_pattern : String +var cased_patterns : Array[String] + +var refresh_lock := false # makes sure _on_filesystem_changed only triggers once + + +func _enter_tree() -> void: + _dockUI = DockScene.instantiate() as Control + add_control_to_bottom_panel(_dockUI, "TODO") + get_editor_interface().get_resource_filesystem().connect("filesystem_changed", + _on_filesystem_changed) + get_editor_interface().get_file_system_dock().connect("file_removed", queue_remove) + get_editor_interface().get_script_editor().connect("editor_script_changed", + _on_active_script_changed) + _dockUI.plugin = self + + combined_pattern = combine_patterns(_dockUI.patterns) + find_tokens_from_path(find_scripts()) + _dockUI.build_tree() + + +func _exit_tree() -> void: + _dockUI.create_config_file() + remove_control_from_bottom_panel(_dockUI) + _dockUI.free() + + +func queue_remove(file: String): + for i in _dockUI.todo_items.size() - 1: + if _dockUI.todo_items[i].script_path == file: + _dockUI.todo_items.remove_at(i) + + +func find_tokens_from_path(scripts: Array[String]) -> void: + for script_path in scripts: + var file := FileAccess.open(script_path, FileAccess.READ) + var contents := file.get_as_text() + if script_path.ends_with(".tscn"): + handle_built_in_scripts(contents, script_path) + else: + find_tokens(contents, script_path) + + +func handle_built_in_scripts(contents: String, resource_path: String): + var s := contents.split("sub_resource type=\"GDScript\"") + if s.size() <= 1: + return + for i in range(1, s.size()): + var script_components := s[i].split("script/source") + var script_name = script_components[0].substr(5, 14) + find_tokens(script_components[1], resource_path + "::" + script_name) + + +func find_tokens(text: String, script_path: String) -> void: + var cached_todos = get_cached_todos(script_path) + if cached_todos.size() != 0: +# var i := 0 +# for todo_item in _dockUI.todo_items: +# if todo_item.script_path == script_path: +# _dockUI.todo_items.remove_at(i) +# i += 1 + var todo_item := TodoItem.new(script_path, cached_todos) + _dockUI.todo_items.append(todo_item) + else: + var regex = RegEx.new() + # if regex.compile("#\\s*\\bTODO\\b.*|#\\s*\\bHACK\\b.*") == OK: + if regex.compile(combined_pattern) == OK: + var result : Array[RegExMatch] = regex.search_all(text) + if result.is_empty(): + for i in _dockUI.todo_items.size(): + if _dockUI.todo_items[i].script_path == script_path: + _dockUI.todo_items.remove_at(i) + return # No tokens found + var match_found : bool + var i := 0 + for todo_item in _dockUI.todo_items: + if todo_item.script_path == script_path: + match_found = true + var updated_todo_item := update_todo_item(todo_item, result, text, script_path) + _dockUI.todo_items.remove_at(i) + _dockUI.todo_items.insert(i, updated_todo_item) + break + i += 1 + if !match_found: + _dockUI.todo_items.append(create_todo_item(result, text, script_path)) + + +func create_todo_item(regex_results: Array[RegExMatch], text: String, script_path: String) -> TodoItem: + var todo_item = TodoItem.new(script_path, []) + todo_item.script_path = script_path + var last_line_number := 0 + var lines := text.split("\n") + for r in regex_results: + var new_todo : Todo = create_todo(r.get_string(), script_path) + new_todo.line_number = get_line_number(r.get_string(), text, last_line_number) + # GD Multiline comment + var trailing_line := new_todo.line_number + var should_break = false + while trailing_line < lines.size() and lines[trailing_line].dedent().begins_with("#"): + for other_r in regex_results: + if lines[trailing_line] in other_r.get_string(): + should_break = true + break + if should_break: + break + + new_todo.content += "\n" + lines[trailing_line] + trailing_line += 1 + + last_line_number = new_todo.line_number + todo_item.todos.append(new_todo) + cache_todos(todo_item.todos, script_path) + return todo_item + + +func update_todo_item(todo_item: TodoItem, regex_results: Array[RegExMatch], text: String, script_path: String) -> TodoItem: + todo_item.todos.clear() + var lines := text.split("\n") + for r in regex_results: + var new_todo : Todo = create_todo(r.get_string(), script_path) + new_todo.line_number = get_line_number(r.get_string(), text) + # GD Multiline comment + var trailing_line := new_todo.line_number + var should_break = false + while trailing_line < lines.size() and lines[trailing_line].dedent().begins_with("#"): + for other_r in regex_results: + if lines[trailing_line] in other_r.get_string(): + should_break = true + break + if should_break: + break + + new_todo.content += "\n" + lines[trailing_line] + trailing_line += 1 + todo_item.todos.append(new_todo) + return todo_item + + +func get_line_number(what: String, from: String, start := 0) -> int: + what = what.split('\n')[0] # Match first line of multiline C# comments + var temp_array := from.split('\n') + var lines := Array(temp_array) + var line_number# = lines.find(what) + 1 + for i in range(start, lines.size()): + if what in lines[i]: + line_number = i + 1 # +1 to account of 0-based array vs 1-based line numbers + break + else: + line_number = 0 # This is an error + return line_number + + +func _on_filesystem_changed() -> void: + if !refresh_lock: + if _dockUI.auto_refresh: + refresh_lock = true + _dockUI.get_node("Timer").start() + rescan_files(false) + + +func find_scripts() -> Array[String]: + var scripts : Array[String] + var directory_queue : Array[String] + var dir := DirAccess.open("res://") + if dir.get_open_error() == OK: + get_dir_contents(dir, scripts, directory_queue) + else: + printerr("TODO_Manager: There was an error during find_scripts()") + + while not directory_queue.is_empty(): + if dir.change_dir(directory_queue[0]) == OK: + get_dir_contents(dir, scripts, directory_queue) + else: + printerr("TODO_Manager: There was an error at: " + directory_queue[0]) + directory_queue.pop_front() + + return scripts + + +func cache_todos(todos: Array, script_path: String) -> void: + var last_modified_time = FileAccess.get_modified_time(script_path) + todo_cache[script_path] = TodoCacheValue.new(todos, last_modified_time) + + +func get_cached_todos(script_path: String) -> Array: + if todo_cache.has(script_path) and !script_path.contains("tscn::"): + var cached_value: TodoCacheValue = todo_cache[script_path] + if cached_value.last_modified_time == FileAccess.get_modified_time(script_path): + + return cached_value.todos + return [] + +func get_dir_contents(dir: DirAccess, scripts: Array[String], directory_queue: Array[String]) -> void: + dir.include_navigational = false + dir.include_hidden = false + dir.list_dir_begin() + var file_name : String = dir.get_next() + + while file_name != "": + if dir.current_is_dir(): + if file_name == ".import" or file_name == ".mono": # Skip .import folder which should never have scripts + pass + else: + directory_queue.append(dir.get_current_dir().path_join(file_name)) + else: + if file_name.ends_with(".gd") or file_name.ends_with(".cs") \ + or file_name.ends_with(".c") or file_name.ends_with(".cpp") or file_name.ends_with(".h") \ + or ((file_name.ends_with(".tscn") and _dockUI.builtin_enabled)): + scripts.append(dir.get_current_dir().path_join(file_name)) + file_name = dir.get_next() + + +func rescan_files(clear_cache: bool) -> void: + _dockUI.todo_items.clear() + if clear_cache: + todo_cache.clear() + combined_pattern = combine_patterns(_dockUI.patterns) + find_tokens_from_path(find_scripts()) + _dockUI.build_tree() + + +func combine_patterns(patterns: Array) -> String: + # Case Sensitivity + cased_patterns = [] + for pattern in patterns: + if pattern[2] == _dockUI.CASE_INSENSITIVE: + cased_patterns.append(pattern[0].insert(0, "((?i)") + ")") + else: + cased_patterns.append("(" + pattern[0] + ")") + + if patterns.size() == 1: + return cased_patterns[0] + else: + var pattern_string := "((\\/\\*)|(#|\\/\\/))\\s*(" + for i in range(patterns.size()): + if i == 0: + pattern_string += cased_patterns[i] + else: + pattern_string += "|" + cased_patterns[i] + pattern_string += ")(?(2)[\\s\\S]*?\\*\\/|.*)" + return pattern_string + + +func create_todo(todo_string: String, script_path: String) -> Todo: + var todo := Todo.new() + var regex = RegEx.new() + for pattern in cased_patterns: + if regex.compile(pattern) == OK: + var result : RegExMatch = regex.search(todo_string) + if result: + todo.pattern = pattern + todo.title = result.strings[0] + else: + continue + else: + printerr("Error compiling " + pattern) + + todo.content = todo_string + todo.script_path = script_path + return todo + + +func _on_active_script_changed(script) -> void: + if _dockUI: + if _dockUI.tabs.current_tab == 1: + _dockUI.build_tree() diff --git a/addons/Todo_Manager/todo.cfg b/addons/Todo_Manager/todo.cfg new file mode 100644 index 0000000..acef3bc --- /dev/null +++ b/addons/Todo_Manager/todo.cfg @@ -0,0 +1,15 @@ +[scripts] + +full_path=false +sort_alphabetical=true +script_colour=Color(0.8, 0.807843, 0.827451, 1) +ignore_paths=Array[String]([]) + +[patterns] + +patterns=[["\\bTODO\\b", Color(0.588235, 0.945098, 0.678431, 1), 0], ["\\bHACK\\b", Color(0.835294, 0.737255, 0.439216, 1), 0], ["\\bFIXME\\b", Color(0.835294, 0.439216, 0.439216, 1), 0]] + +[config] + +auto_refresh=true +builtin_enabled=false diff --git a/addons/Todo_Manager/todoItem_class.gd b/addons/Todo_Manager/todoItem_class.gd new file mode 100644 index 0000000..9bcb000 --- /dev/null +++ b/addons/Todo_Manager/todoItem_class.gd @@ -0,0 +1,18 @@ +@tool +extends RefCounted + +var script_path : String +var todos : Array + +func _init(script_path: String, todos: Array): + self.script_path = script_path + self.todos = todos + +func get_short_path() -> String: + var temp_array := script_path.rsplit('/', false, 1) + var short_path : String + if not temp_array.size() > 1: + short_path = "(!)" + temp_array[0] + else: + short_path = temp_array[1] + return short_path diff --git a/addons/Todo_Manager/todo_class.gd b/addons/Todo_Manager/todo_class.gd new file mode 100644 index 0000000..af6b26b --- /dev/null +++ b/addons/Todo_Manager/todo_class.gd @@ -0,0 +1,9 @@ +@tool +extends RefCounted + + +var pattern : String +var title : String +var content : String +var script_path : String +var line_number : int 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 0000000..0a32a64 --- /dev/null +++ b/addons/godot_rl_agents/controller/ai_controller_2d.gd @@ -0,0 +1,119 @@ +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 + +@export_group("Multi-policy mode options") +## Allows you to set certain agents to use different policies. +## Changing has no effect with default SB3 training. Works with Rllib example. +## Tutorial: https://github.com/edbeeching/godot_rl_agents/blob/main/docs/TRAINING_MULTIPLE_POLICIES.md +@export var policy_name: String = "shared_policy" + +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 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_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 0000000..c77d9e0 --- /dev/null +++ b/addons/godot_rl_agents/controller/ai_controller_3d.gd @@ -0,0 +1,120 @@ +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 + +@export_group("Multi-policy mode options") +## Allows you to set certain agents to use different policies. +## Changing has no effect with default SB3 training. Works with Rllib example. +## Tutorial: https://github.com/edbeeching/godot_rl_agents/blob/main/docs/TRAINING_MULTIPLE_POLICIES.md +@export var policy_name: String = "shared_policy" + +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_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 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_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 0000000..e4fe136 --- /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 0000000..fd8190e Binary files /dev/null and b/addons/godot_rl_agents/icon.png differ 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 0000000..6dcfa18 --- /dev/null +++ b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs @@ -0,0 +1,109 @@ +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 + /// + /// + /// + /// Returns the output size of the model + public int Initialize(string Path, int BatchSize) + { + modelPath = Path; + batchSize = BatchSize; + SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions(); + session = LoadModel(modelPath); + return session.OutputMetadata["output"].Dimensions[1]; + } + + + /// + 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 0000000..ad7a41c --- /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 0000000..91b07d6 --- /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 0000000..f160c02 --- /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 0000000..e27f2c3 --- /dev/null +++ b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd @@ -0,0 +1,51 @@ +extends Resource +class_name ONNXModel +var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs") + +var inferencer = null + +## How many action values the model outputs +var action_output_size: int + +## Used to differentiate models +## that only output continuous action mean (e.g. sb3, cleanrl export) +## versus models that output mean and logstd (e.g. rllib export) +var action_means_only: bool + +## Whether action_means_value has been set already for this model +var action_means_only_set: bool + +# Must provide the path to the model and the batch size +func _init(model_path, batch_size): + inferencer = inferencer_script.new() + action_output_size = 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() + +# Check whether agent uses a continuous actions model with only action means or not +func set_action_means_only(agent_action_space): + action_means_only_set = true + var continuous_only: bool = true + var continuous_actions: int + for action in agent_action_space: + if not agent_action_space[action]["action_type"] == "continuous": + continuous_only = false + break + else: + continuous_actions += agent_action_space[action]["size"] + if continuous_only: + if continuous_actions == action_output_size: + action_means_only = true diff --git a/addons/godot_rl_agents/plugin.cfg b/addons/godot_rl_agents/plugin.cfg new file mode 100644 index 0000000..b1bc988 --- /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 0000000..5edb6c7 --- /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 0000000..da170ba --- /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 0000000..67669a1 --- /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 0000000..9bb54ed --- /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 0000000..5ca402c --- /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 0000000..a8057c7 --- /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 0000000..03593cc --- /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 0000000..aca3c2d --- /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 0000000..1037e97 --- /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 0000000..052b557 --- /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 0000000..1357529 --- /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 0000000..35f9796 --- /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 0000000..889127a --- /dev/null +++ b/addons/godot_rl_agents/sync.gd @@ -0,0 +1,579 @@ +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 +## Policy name of each agent, for use with multi-policy multi-agent RL cases +var agents_training_policy_names: Array[String] = ["shared_policy"] +var agents_inference: Array +var agents_heuristic: Array + +## For recording expert demos +var agent_demo_record: Node +## File path for writing recorded trajectories +var expert_demo_save_path: String +## 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_training: Array[Dictionary] = [] +var _action_space_inference: Array[Dictionary] = [] +var _obs_space_training: Array[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_training.resize(agents_training.size()) + _action_space_training.resize(agents_training.size()) + for agent_idx in range(0, agents_training.size()): + _obs_space_training[agent_idx] = agents_training[agent_idx].get_obs_space() + _action_space_training[agent_idx] = agents_training[agent_idx].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: + var action_space = agent.get_action_space() + _action_space_inference.append(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 + if not agent_onnx_model.action_means_only_set: + agent_onnx_model.set_action_means_only(action_space) + + _set_heuristic("model", agents_inference) + + +func _initialize_demo_recording(): + if agent_demo_record: + expert_demo_save_path = agent_demo_record.expert_demo_save_path + assert( + not expert_demo_save_path.is_empty(), + "Expert demo save path set in %s is empty." % agent_demo_record.get_path() + ) + + 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 model: ONNXModel = agents_inference[agent_id].onnx_model + var action = model.run_inference( + obs[agent_id]["obs"], 1.0 + ) + var action_dict = _extract_action_dict( + action["output"], _action_space_inference[agent_id], model.action_means_only + ) + 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, action_means_only: bool): + var index = 0 + var result = {} + for key in action_space.keys(): + var size = action_space[key]["size"] + var action_type = action_space[key]["action_type"] + if action_type == "discrete": + var largest_logit: float # Value of the largest logit for this action in the actions array + var largest_logit_idx: int # Index of the largest logit for this action in the actions array + for logit_idx in range(0, size): + var logit_value = action_array[index + logit_idx] + if logit_value > largest_logit: + largest_logit = logit_value + largest_logit_idx = logit_idx + result[key] = largest_logit_idx # Index of the largest logit is the discrete action value + index += size + elif action_type == "continuous": + # For continous actions, we only take the action mean values + result[key] = clamp_array(action_array.slice(index, index + size), -1.0, 1.0) + if action_means_only: + index += size # model only outputs action means, so we move index by size + else: + index += size * 2 # model outputs logstd after action mean, we skip the logstd part + + else: + assert(false, 'Only "discrete" and "continuous" action types supported. Found: %s action type set.' % action_type) + + + 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 + + var training_agent_count = agents_training.size() + agents_training_policy_names.resize(training_agent_count) + for i in range(0, training_agent_count): + agents_training_policy_names[i] = agents_training[i].policy_name + + +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_training, + "action_space": _action_space_training, + "n_agents": len(agents_training), + "agent_policy_names": agents_training_policy_names + } + _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 game window instead of "Stop" button in Godot Editor) +func _notification(what): + if demo_trajectories.size() == 0 or expert_demo_save_path.is_empty(): + return + + if what == NOTIFICATION_PREDELETE: + var json_string = JSON.stringify(demo_trajectories, "", false) + var file = FileAccess.open(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/agent.py b/agent.py new file mode 100644 index 0000000..a7aa494 --- /dev/null +++ b/agent.py @@ -0,0 +1,159 @@ +import args +import os +import pathlib + +import torch as T +import torch.nn as nn + +from typing import Callable + +from stable_baselines3 import PPO +from stable_baselines3.common.callbacks import CheckpointCallback +from stable_baselines3.common.vec_env.vec_monitor import VecMonitor + +from godot_rl.core.utils import can_import +from godot_rl.wrappers.onnx.stable_baselines_export import export_ppo_model_as_onnx +from godot_rl.wrappers.stable_baselines_wrapper import StableBaselinesGodotEnv + +def main(policy_name=None, policy=None, parseargs=None): + if can_import("ray"): + print("WARNING: SB3 and ray[rllib] are not compatible.") + + args, extras = parseargs + # args, extras = args.parse_args() + + def handle_onnx_export(): + ''' + Enforces the onnx and zip extentions when saving models. + This avoids potential conflicts in case of identical names and extentions + ''' + if args.onnx_export_path is not None: + path_onnx = pathlib.Path(args.onnx_export_path).with_suffix(".onnx") + print(f"Exporting onnx to: {os.path.abspath(path_onnx)}") + export_ppo_model_as_onnx(model, str(path_onnx)) + + def handle_model_save(): + if args.save_model_path is not None: + zip_save_path = pathlib.Path(Args.save_model_path).with_suffix(".zip") + print(f"Saving model to: {os.path.abspath(zip_save_path)}") + model.save(zip_save_path) + + def close_env(): + try: + print("Closing env...") + env.close() + except Exception as e: + print(f"Exception while closing env: {e}") + + if policy_name is None: + path_checkpoint = os.path.join(args.exper_dir, f"{args.exper_name}_checkpoints") + else: + path_checkpoint = os.path.join(args.exper_dir, f"{policy_name}_checkpoints") + + abs_path_checkpoint = os.path.abspath(path_checkpoint) + + if args.save_checkpoint_frequency is not None and os.path.isdir(path_checkpoint): + raise RuntimeError( + f"{abs_path_checkpoint} already exists." + "Use a different directory or different name." + "If you want to override previous checkpoints you have to delete them manually." + ) + + if args.inference and args.resume_model_path is None: + raise parser.error( + "Using --inference requires --resume_model_path to be set." + ) + + if args.env_path is None and args.viz: + print("Info: using --viz without --env_path set has no effect.") + print("\nIn editor training will always render.") + + env = StableBaselinesGodotEnv( + env_path=args.env_path, + show_window=args.viz, + seed=args.seed, + n_parallel=args.n_parallel, + speedup=args.speedup + ) + env = VecMonitor(env) + + # LR schedule code snippet from: + # https://stable-baselines3.readthedocs.io/en/master/guide/examples.html#learning-rate-schedule + def linear_schedule(initial_value: float) -> Callable[[float], float]: + """ + Linear learning rate schedule. + + :param initial_value: Initial learning rate. + :return: schedule that computes + current learning rate depending on remaining progress + """ + + def func(progress_remaining: float) -> float: + """ + Progress will decrease from 1 (beginning) to 0. + + :param progress_remaining: + :return: current learning rate + """ + return progress_remaining * initial_value + + return func + + if args.resume_model_path is None: + if not args.linear_lr_schedule: + learning_rate = 0.0003 + else: + linear_schedule(0.0003) + + model: PPO = PPO( + # 'MultiInputPolicy' serves as an alias for MultiInputActorCriticPolicy + "MultiInputPolicy", + env, + batch_size=64, + ent_coef=0.01, + verbose=2, + n_steps=256, + tensorboard_log=args.exper_dir, + learning_rate=learning_rate, + policy_kwargs=policy, + ) + else: + path_zip = pathlib.Path(args.resume_model_path) + print(f"Loading model: {os.path.abspath(pathzip)}") + model: PPO = PPO.load( + path_zip, + env=env, + tensorboard_log=args.exper_dir + ) + + if args.inference: + obs = env.reset() + for i in range(args.timesteps): + action, _state = model.predict(obs, deterministic=True) + obs, reward, done, info = env.step(action) + else: + learn_arguments = dict( + total_timesteps=args.timesteps, + tb_log_name=policy_name + ) + if args.save_checkpoint_frequency: + print("Checkpoint saving enabled.") + print(f"\nCheckpoints will be saved to {abs_path_checkpoint}") + checkpoint_callback = CheckpointCallback( + save_freq=(args.save_checkpoint_frequency // env.num_envs), + save_path=path_checkpoint, + name_prefix=policy_name + ) + learn_arguments["callback"] = checkpoint_callback + try: + model.learn(**learn_arguments) + except KeyboardInterrupt: + print( + """ + Training interrupted by user. Will save if --save_model_path was set and/or export if --onnx_export was set. + """ + ) + + close_env() + handle_onnx_export() + handle_model_save() diff --git a/args.py b/args.py new file mode 100644 index 0000000..78a3483 --- /dev/null +++ b/args.py @@ -0,0 +1,109 @@ +import argparse + +def parse_args(): + + parser = argparse.ArgumentParser( + prog='Pneuma', + allow_abbrev=False, + description='A Reinforcement Learning platform made with Godot', + ) + parser.add_argument( + "--env_path", + default=None, + type=str, + help="The Godot binary to use, do not include for in editor training", + ) + parser.add_argument( + "--exper_dir", + default="logs/sb3", + type=str, + help="The name of the experiment directory, in which the tensorboard logs and checkpoints (if enabled) are " + "getting stored.", + ) + parser.add_argument( + "--exper_name", + default="experiment", + type=str, + help="The name of the experiment, which will be displayed in tensorboard and " + "for checkpoint directory and name (if enabled).", + ) + parser.add_argument( + "--seed", + type=int, + default=1, + help="seed of the experiment" + ) + parser.add_argument( + "--resume_model_path", + default=None, + type=str, + help="The path to a model file previously saved using --save_model_path or a checkpoint saved using " + "--save_checkpoints_frequency. Use this to resume training or infer from a saved model.", + ) + parser.add_argument( + "--save_model_path", + default=None, + type=str, + help="The path to use for saving the trained sb3 model after training is complete. Saved model can be used later " + "to resume training. Extension will be set to .zip", + ) + parser.add_argument( + "--save_checkpoint_frequency", + default=None, + type=int, + help=( + "If set, will save checkpoints every 'frequency' environment steps. " + "Requires a unique --experiment_name or --experiment_dir for each run. " + "Does not need --save_model_path to be set. " + ), + ) + parser.add_argument( + "--onnx_export_path", + default=None, + type=str, + help="If included, will export onnx file after training to the path specified.", + ) + parser.add_argument( + "--timesteps", + default=1_000_000, + type=int, + help="The number of environment steps to train for, default is 1_000_000. If resuming from a saved model, " + "it will continue training for this amount of steps from the saved state without counting previously trained " + "steps", + ) + parser.add_argument( + "--inference", + default=False, + action="store_true", + help="Instead of training, it will run inference on a loaded model for --timesteps steps. " + "Requires --resume_model_path to be set.", + ) + parser.add_argument( + "--linear_lr_schedule", + default=False, + action="store_true", + help="Use a linear LR schedule for training. If set, learning rate will decrease until it reaches 0 at " + "--timesteps" + "value. Note: On resuming training, the schedule will reset. If disabled, constant LR will be used.", + ) + parser.add_argument( + "--viz", + action="store_true", + help="If set, the simulation will be displayed in a window during training. Otherwise " + "training will run without rendering the simulation. This setting does not apply to in-editor training.", + default=False, + ) + parser.add_argument( + "--speedup", + default=1, + type=int, + help="Whether to speed up the physics in the env" + ) + parser.add_argument( + "--n_parallel", + default=1, + type=int, + help="How many instances of the environment executable to " "launch - requires --env_path to be set if > 1.", + ) + + return parser.parse_known_args() diff --git a/assets/audio/Fire.wav b/assets/audio/Fire.wav new file mode 100644 index 0000000..97bb0e4 Binary files /dev/null and b/assets/audio/Fire.wav differ diff --git a/assets/audio/attack/claw.wav b/assets/audio/attack/claw.wav new file mode 100644 index 0000000..1a98889 Binary files /dev/null and b/assets/audio/attack/claw.wav differ diff --git a/assets/audio/attack/fireball.wav b/assets/audio/attack/fireball.wav new file mode 100644 index 0000000..dc2c852 Binary files /dev/null and b/assets/audio/attack/fireball.wav differ diff --git a/assets/audio/attack/slash.wav 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index 0000000..fd96c2c Binary files /dev/null and b/assets/graphics/weapons/sword/right.png differ diff --git a/assets/graphics/weapons/sword/up.png b/assets/graphics/weapons/sword/up.png new file mode 100644 index 0000000..5cac8d4 Binary files /dev/null and b/assets/graphics/weapons/sword/up.png differ diff --git a/code/AIController2D.gd b/code/AIController2D.gd new file mode 100644 index 0000000..efbd446 --- /dev/null +++ b/code/AIController2D.gd @@ -0,0 +1,53 @@ +extends AIController2D + +# meta-name: AI Controller Logic +# meta-description: Methods that need implementing for AI controllers +# meta-default: true + +#-- Methods that need implementing using the "extend script" option in Godot --# + +@onready var player = $".." +@onready var bamboos = $"../../../Bamboos" +@onready var move: int + +func get_obs() -> Dictionary: + var dict = {"obs":[ + player.position.x, + player.position.y, + player.health, + player.experience, + ]} + for bamboo in bamboos.get_children(): + dict["obs"].append(bamboo.position.x) + dict["obs"].append(bamboo.position.y) + dict["obs"].append(bamboo.health) + dict["obs"].append(bamboo.position.direction_to(player.position).x) + dict["obs"].append(bamboo.position.direction_to(player.position).y) + return dict + +func get_reward() -> float: + return reward + +func get_action_space() -> Dictionary: + return { + "move" : { + "size": 5, + "action_type": "discrete" + } + } + +func set_action(action) -> void: + move = action["move"] +# -----------------------------------------------------------------------------# + +#-- Methods that can be overridden if needed --# + +#func get_obs_space() -> Dictionary: +# May need overriding if the obs space is complex +# var obs = get_obs() +# return { +# "obs": { +# "size": [len(obs["obs"])], +# "space": "box" +# }, +# } diff --git a/code/bamboo.gd b/code/bamboo.gd new file mode 100644 index 0000000..3c44d52 --- /dev/null +++ b/code/bamboo.gd @@ -0,0 +1,98 @@ +extends CharacterBody2D + +const SPEED = 150 +const DAMAGE = 7 +const EXP_AMOUNT = 1 + +@onready var knockback_timer = $KnockbackTimer +@onready var attack_timer = $AttackTimer +@onready var notice = $Notice +@onready var attack = $Attack + +@onready var animation_player = $AnimationPlayer + +@export var health = 100 + +var knockback = Vector2.ZERO +var near_player = false +var is_attacking = false +var is_knocked = false +var is_dead = false +var can_move = true + +signal death + + +func change_hp(dmg): + if not is_dead: + health += dmg + if health <= 0: + health = 0 + for body in attack.get_overlapping_bodies(): + body.change_hp(DAMAGE) + body.add_exp(EXP_AMOUNT) + is_dead = true + death.emit() + +func _on_notice_body_entered(body): + near_player = true + body.ai_controller.reward += 1 + + +func _on_notice_body_exited(body): + near_player = false + +func _on_attack_body_entered(body): + is_attacking = false + body.ai_controller.reward += 1 + +func _on_attack_body_exited(body): + is_attacking = true + +func _physics_process(delta): + if near_player and not is_dead: + if not is_knocked: + for body in notice.get_overlapping_bodies(): + if self.to_local(body.global_position).x > 30: + velocity.x = SPEED + elif self.to_local(body.global_position).x < -30: + velocity.x = -SPEED + else: + velocity.x = move_toward(velocity.x, 0, SPEED) + + if self.to_local(body.global_position).y > 30: + velocity.y = SPEED + elif self.to_local(body.global_position).y < -30: + velocity.y = -SPEED + else: + velocity.y = move_toward(velocity.y, 0, SPEED) + + if not is_attacking: + for enemy in attack.get_overlapping_bodies(): + enemy.change_hp(-DAMAGE) + attack_timer.start() + is_attacking = true + + + else: + if can_move: + self.velocity = knockback + knockback_timer.start() + can_move = false + else: + velocity.x = move_toward(velocity.x, 0, SPEED) + velocity.y = move_toward(velocity.y, 0, SPEED) + + move_and_slide() + + +func _on_attack_timer_timeout(): + is_attacking = false + +func _on_knockback_timer_timeout(): + knockback = Vector2.ZERO + is_knocked = false + can_move = true + +func _on_death(): + animation_player.play("death") diff --git a/code/exp.gd b/code/exp.gd new file mode 100644 index 0000000..2bf741f --- /dev/null +++ b/code/exp.gd @@ -0,0 +1,3 @@ +extends Label + + diff --git a/code/killzone.gd b/code/killzone.gd new file mode 100644 index 0000000..65bb34d --- /dev/null +++ b/code/killzone.gd @@ -0,0 +1,4 @@ +extends Area2D + +func _on_body_entered(body): + body.death.emit() diff --git a/code/main.gd b/code/main.gd new file mode 100644 index 0000000..8d0814e --- /dev/null +++ b/code/main.gd @@ -0,0 +1,62 @@ +extends Node2D + +@onready var main_camera = %Overworld +@onready var timer = %WorldTimer + +@onready var players = $Players +#TODO: Fix camera +@onready var player_camera = $Players/Player/Camera +@onready var bamboos = $Bamboos + +@onready var player_starting_pos = [] +@onready var bamboo_starting_pos = [] + + + +# Called when the node enters the scene tree for the first time. +func _ready(): + main_camera.make_current() + for player in players.get_children(): + player_starting_pos.append(player.position) + for bamboo in bamboos.get_children(): + bamboo_starting_pos.append(bamboo.position) + timer.start() + +func _input(event): + if event.is_action_pressed("reset_camera"): + main_camera.make_current() + player_camera.visible = false + +func _process(delta): + var dead_state = 0 + var i=0 + + for bamboo in bamboos.get_children(): + if bamboo.is_dead: + dead_state += 1 + + if dead_state == bamboos.get_children().size(): + for player in players.get_children(): + player.change_hp(-1000) + +func _on_player_death(): + var i = 0 + for player in players.get_children(): + player.position = player_starting_pos[i] + player.health = 100 + player.ai_controller.done = true + player.ai_controller.reset() + i += 1 + var j = 0 + for bamboo in bamboos.get_children(): + bamboo.position = bamboo_starting_pos[j] + bamboo.health = 40 + bamboo.is_dead = false + bamboo.animation_player.play("RESET") + j += 1 + +func _on_timer_timeout(): + for player in players.get_children(): + player.change_hp(-1000) + timer.start() + diff --git a/code/player.gd b/code/player.gd new file mode 100644 index 0000000..783ae3a --- /dev/null +++ b/code/player.gd @@ -0,0 +1,190 @@ +extends CharacterBody2D + +const SPEED = 300.0 + +var is_attacking = false +var last_action = 0 +var cooldown_start = false + +var zoomed_in = false + +var starting_position = self.position + +signal death + +@onready var ai_controller = $AIController2D + +@onready var animated_sprite = $AnimatedSprite2D + +@onready var overworld = %Overworld + +@onready var camera = $Camera +@onready var exp_label = $Camera/ExpPanel/ExpLabel +@onready var hp_label = $Camera/HPPanel/HPLabel + +@onready var attack_timer = $AttackTimer +@onready var weapon = $Weapon +@onready var weapon_player = $Weapon/AnimationPlayer + + +@export var health = 100 +@export var experience = 0 + + +func _ready(): + exp_label.text = "Experience\n"+str(experience) + hp_label.text = "Health\n"+str(health) + +func add_exp(exp_amount): + experience += exp_amount + ai_controller.reward = experience + exp_label.text = "Experience\n"+str(experience) + + +func change_hp(dmg): + health += dmg + #ai_controller.reward += dmg/10 + if health <= 0: + health = 0 + add_exp(-1) + death.emit() + hp_label.text = "Health\n"+str(health) + +func move_left(): + last_action = 1 + velocity.x = -SPEED +func move_right(): + last_action = 3 + velocity.x = SPEED +func move_up(): + last_action = 2 + velocity.y = -SPEED +func move_down(): + last_action = 0 + velocity.y = SPEED + +func _physics_process(_delta): + velocity.x = move_toward(velocity.x, 0, SPEED) + velocity.y = move_toward(velocity.y, 0, SPEED) + + # Get the input direction and handle the movement/deceleration. + if not is_attacking: + # Handle and movement + ## X Axis + if Input.is_action_pressed("move_right") or ai_controller.move == 3: + move_right() + if Input.is_action_pressed("move_left") or ai_controller.move == 1: + move_left() + + ## Y Axis + if Input.is_action_pressed("move_up") or ai_controller.move == 2: + move_up() + if Input.is_action_pressed("move_down") or ai_controller.move == 0: + move_down() + + # Handle animations + if velocity.x > 0: + animated_sprite.play("move_right") + elif velocity.x < 0: + animated_sprite.play("move_left") + elif velocity.y > 0 : + animated_sprite.play("move_down") + elif velocity.y < 0: + animated_sprite.play("move_up") + + # Stop movement or change direction (left/right or up/down) + if Input.is_action_just_released("move_right"): + if Input.is_action_pressed("move_left"): + move_left() + else: + last_action = 3 + velocity.x = move_toward(velocity.x, 0, SPEED) + animated_sprite.play("idle_right") + if Input.is_action_just_released("move_left"): + if Input.is_action_pressed("move_right"): + move_right() + else: + last_action = 1 + velocity.x = move_toward(velocity.x, 0, SPEED) + animated_sprite.play("idle_left") + + if Input.is_action_just_released("move_up"): + if Input.is_action_pressed("move_down"): + move_down() + else: + last_action = 2 + velocity.y = move_toward(velocity.y, 0, SPEED) + animated_sprite.play("idle_up") + if Input.is_action_just_released("move_down"): + if Input.is_action_pressed("move_up"): + move_up() + else: + last_action = 0 + velocity.y = move_toward(velocity.y, 0, SPEED) + animated_sprite.play("idle_down") + + # Handle attacking and magic + if Input.is_action_just_pressed("attack") or ai_controller.move == 4: + + is_attacking = true + if last_action == 1: + weapon.position = Vector2i(-54,14) + weapon.rotation_degrees = 90*last_action + animated_sprite.play("attack_left") + weapon_player.play("attack") + elif last_action == 2: + weapon.position = Vector2i(8,-44) + animated_sprite.play("attack_up") + weapon.rotation_degrees = 90*last_action + weapon_player.play("attack") + elif last_action == 3: + weapon.rotation_degrees = 90*last_action + weapon.position = Vector2i(54,14) + animated_sprite.play("attack_right") + weapon_player.play("attack") + else: + weapon.position = Vector2i(-12,52) + animated_sprite.play("attack_down") + weapon.rotation_degrees = 90*last_action + weapon_player.play("attack") +# + ## TODO: Fix magic + #elif Input.is_action_just_pressed("cast_magic"): + #is_attacking = true + #velocity.x = move_toward(velocity.x, 0, SPEED) + #velocity.y = move_toward(velocity.y, 0, SPEED) + #if last_action == 1: + #animated_sprite.play("attack_right") + #elif last_action == 2: + #animated_sprite.play("attack_left") + #elif last_action == 3: + #animated_sprite.play("attack_up") + #else: + #animated_sprite.play("attack_down") + + move_and_slide() + + else: + attack_cooldown() + +func attack_cooldown(): + if cooldown_start == false: + attack_timer.start() + cooldown_start = true + +# TODO: Find more elegant way to go back +func _on_button_pressed(): + if not zoomed_in: + camera.visible = true + camera.make_current() + zoomed_in = true + else: + camera.visible = false + overworld.make_current() + zoomed_in = false + + +func _on_attack_timer_timeout(): + is_attacking = false + cooldown_start = false + weapon_player.play("RESET") diff --git a/code/weapon.gd b/code/weapon.gd new file mode 100644 index 0000000..7151c3b --- /dev/null +++ b/code/weapon.gd @@ -0,0 +1,12 @@ +extends Area2D + +const DAMAGE = 20 +const KNOCKBACK_STR = 120 + +func _on_body_entered(body): + var direction = self.global_position.direction_to(body.global_position) + var knockback_force = direction * KNOCKBACK_STR + if not body.is_dead: + body.change_hp(-DAMAGE) + body.knockback = knockback_force + body.is_knocked = true diff --git a/default_bus_layout.tres b/default_bus_layout.tres new file mode 100644 index 0000000..23bf494 --- /dev/null +++ b/default_bus_layout.tres @@ -0,0 +1,9 @@ +[gd_resource type="AudioBusLayout" format=3 uid="uid://crne71jxj5jib"] + +[resource] +bus/1/name = &"SFX" +bus/1/solo = false 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+watchdog = ["watchdog (>=2.3)"] + +[[package]] +name = "wget" +version = "3.2" +description = "pure python download utility" +optional = false +python-versions = "*" +files = [ + {file = "wget-3.2.zip", hash = "sha256:35e630eca2aa50ce998b9b1a127bb26b30dfee573702782aa982f875e3f16061"}, +] + +[metadata] +lock-version = "2.0" +python-versions = "^3.11" +content-hash = "2d575ca622be4eb61953716f1811accd9330cdbd4ad0ceee31700058e486e7e6" diff --git a/policy.py b/policy.py new file mode 100644 index 0000000..de39514 --- /dev/null +++ b/policy.py @@ -0,0 +1,131 @@ +import torch as T +import torch.nn as nn + +policy_small=dict( + net_arch=dict( + pi=[256], + vf=[256] + ) +) + +policy_small_optim=dict( + net_arch=dict( + pi=[256], + vf=[256] + ), + optimizer_kwargs=dict( + betas=(0.9, 0.9), + eps=1e-5, + ), +) + +policy_small_tanh=dict( + activation_fn=nn.Tanh, + net_arch=dict( + pi=[256], + vf=[256] + ) +) + +policy_small_optim_tanh=dict( + net_arch=dict( + pi=[256], + vf=[256] + ), + optimizer_class=T.optim.Adam, + optimizer_kwargs=dict( + betas=(0.9, 0.9), + eps=1e-5, + ), +) + +policy_mid=dict( + net_arch=dict( + pi=[512], + vf=[2048, 2048] + ) +) + +policy_mid_tanh=dict( + activation_fn=nn.Tanh, + net_arch=dict( + pi=[512], + vf=[2048, 2048] + ) +) + +policy_mid_optim=dict( + net_arch=dict( + pi=[512], + vf=[2048, 2048] + ), + optimizer_kwargs=dict( + betas=(0.9,0.9), + eps=1e-5 + ) +) + +policy_mid_optim_tanh=dict( + activation_fn=nn.Tanh, + net_arch=dict( + pi=[512], + vf=[2048, 2048] + ), + optimizer_kwargs=dict( + betas=(0.9,0.9), + eps=1e-5 + ) +) + +policy_big=dict( + net_arch=dict( + pi=[1024, 1024], + vf=[4096, 4096, 4096, 4096] + ) +) + +policy_big_tanh=dict( + activation_fn=nn.Tanh, + net_arch=dict( + pi=[1024, 1024], + vf=[4096, 4096, 4096, 4096] + ) +) + +policy_big_optim=dict( + net_arch=dict( + pi=[1024, 1024], + vf=[4096, 4096, 4096, 4096] + ), + optimizer_kwargs=dict( + betas=(0.9, 0.9), + eps=1e-5, + ), +) + +policy_big_optim_tanh = dict( + activation_fn=nn.Tanh, + net_arch=dict( + pi=[1024, 1024], + vf=[4096, 4096, 4096, 4096], + ), + optimizer_kwargs=dict( + betas=(0.9, 0.9), + eps=1e-5, + ), +) + +policies={ + "policy_small": policy_small, + "policy_small_optim": policy_small_optim, + "policy_small_tanh": policy_small_tanh, + "policy_small_optim_tanh": policy_small_optim_tanh, + "policy_mid": policy_mid, + "policy_mid_optim": policy_mid_optim, + "policy_mid_tanh": policy_mid_tanh, + "policy_mid_optim_tanh": policy_mid_optim_tanh, + "policy_big": policy_big, + "policy_big_optim": policy_big_optim, + "policy_big_tanh": policy_big_tanh, + "policy_big_optim_tanh": policy_big_optim_tanh, +} diff --git a/project.godot b/project.godot new file mode 100644 index 0000000..896b36d --- /dev/null +++ b/project.godot @@ -0,0 +1,70 @@ +; 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="Pneuma" +run/main_scene="res://scenes/main.tscn" +config/features=PackedStringArray("4.2", "Forward Plus") +config/icon="res://icon.svg" + +[dotnet] + +project/assembly_name="Pneuma" + +[editor_plugins] + +enabled=PackedStringArray("res://addons/Todo_Manager/plugin.cfg", "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":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) +] +} +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":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) +] +} +move_up={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"echo":false,"script":null) +, 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) +] +} +move_down={ +"deadzone": 0.5, +"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"echo":false,"script":null) +, 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":4194322,"key_label":0,"unicode":0,"echo":false,"script":null) +] +} +attack={ +"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":69,"key_label":0,"unicode":101,"echo":false,"script":null) +] +} +cast_magic={ +"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":81,"key_label":0,"unicode":113,"echo":false,"script":null) +] +} +reset_camera={ +"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":4194305,"key_label":0,"unicode":0,"echo":false,"script":null) +] +} + +[rendering] + +textures/canvas_textures/default_texture_filter=0 diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000..d49e673 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,22 @@ +[tool.poetry] +name = "pneumarl" +version = "0.1.0" +description = "Godot training env for MARL" +authors = ["Vasilis Valatsos "] +readme = "README.md" +package-mode = false + +[tool.poetry.dependencies] +python = "^3.11" +dm-tree = "^0.1.8" +typer = "^0.12.3" +scikit-image = "^0.23.2" +lz4 = "^4.3.3" +godot-rl = {url = "https://github.com/edbeeching/godot_rl_agents/archive/refs/heads/main.zip"} +pettingzoo = "^1.24.3" +tensorboard = "^2.16.2" + + +[build-system] +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" diff --git a/rllib_config.yaml b/rllib_config.yaml new file mode 100644 index 0000000..c105612 --- /dev/null +++ b/rllib_config.yaml @@ -0,0 +1,60 @@ +algorithm: PPO + +# Multi-agent-env setting: +# If true: +# - Any AIController with done = true will receive zeroes as action values until all AIControllers are done, an episode ends at that point. +# - ai_controller.needs_reset will also be set to true every time a new episode begins (but you can ignore it in your env if needed). +# If false: +# - AIControllers auto-reset in Godot and will receive actions after setting done = true. +# - Each AIController has its own episodes that can end/reset at any point. +# Set to false if you have a single policy name for all agents set in AIControllers +env_is_multiagent: false + +checkpoint_frequency: 20 + +# You can set one or more stopping criteria +stop: + #episode_reward_mean: 0 + #training_iteration: 1000 + #timesteps_total: 10000 + time_total_s: 10000000 + +config: + env: godot + env_config: + env_path: '/home/valapeos/Projects/pneumarl/pneuma.x86_64' # Set your env path here (exported executable from Godot) - e.g. env_path: 'env_path.exe' on Windows + action_repeat: null # Doesn't need to be set here, you can set this in sync node in Godot editor as well + show_window: true # Displays game window while training. Might be faster when false in some cases, turning off also reduces GPU usage if you don't need rendering. + speedup: 30 # Speeds up Godot physics + + framework: torch # ONNX models exported with torch are compatible with the current Godot RL Agents Plugin + + lr: 0.0003 + lambda: 0.95 + gamma: 0.99 + + vf_loss_coeff: 0.5 + vf_clip_param: .inf + #clip_param: 0.2 + entropy_coeff: 0.0001 + entropy_coeff_schedule: null + #grad_clip: 0.5 + + normalize_actions: False + clip_actions: True # During onnx inference we simply clip the actions to [-1.0, 1.0] range, set here to match + + rollout_fragment_length: 32 + sgd_minibatch_size: 128 + num_workers: 4 + num_envs_per_worker: 1 # This will be set automatically if not multi-agent. If multi-agent, changing this changes how many envs to launch per worker. + # The value below needs changing per env + # Basic calculation for this value can be rollout_fragment_length * num_workers * num_envs_per_worker (how many AIControllers you have if not multi_agent, otherwise the value you set) + train_batch_size: 2048 + + num_sgd_iter: 4 + batch_mode: truncate_episodes + + num_gpus: 0 + model: + vf_share_layers: False + fcnet_hiddens: [64, 64] diff --git a/run_tests.sh b/run_tests.sh new file mode 100755 index 0000000..e6597f2 --- /dev/null +++ b/run_tests.sh @@ -0,0 +1,9 @@ +#!/bin/sh + +python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_1" && + +python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_2" && + +python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_3" && + +python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_4" diff --git a/scenes/attack.tscn b/scenes/attack.tscn new file mode 100644 index 0000000..616dc07 --- /dev/null +++ b/scenes/attack.tscn @@ -0,0 +1,4 @@ +[gd_scene format=3 uid="uid://c1i0nirxfagfh"] + +[node name="Attack" type="Area2D"] +collision_mask = 2 diff --git a/scenes/bamboo.tscn b/scenes/bamboo.tscn new file mode 100644 index 0000000..348bf2c --- /dev/null +++ b/scenes/bamboo.tscn @@ -0,0 +1,249 @@ +[gd_scene load_steps=20 format=3 uid="uid://bsjy4oejfrg81"] + +[ext_resource type="Texture2D" uid="uid://d4d34das0e3j0" path="res://assets/graphics/monsters/bamboo/idle/0.png" id="1_em175"] +[ext_resource type="Texture2D" uid="uid://l0bk7j8xiqur" path="res://assets/graphics/monsters/bamboo/idle/1.png" id="2_i1h6v"] +[ext_resource type="Texture2D" uid="uid://bwe7pi6shcc2x" path="res://assets/graphics/monsters/bamboo/attack/0.png" id="2_tihvn"] +[ext_resource type="Texture2D" uid="uid://damt0mr2bvcjv" path="res://assets/graphics/monsters/bamboo/idle/2.png" id="3_5ekod"] +[ext_resource type="Texture2D" uid="uid://b11yb3x6h5oas" path="res://assets/graphics/monsters/bamboo/idle/3.png" id="4_0fhpn"] +[ext_resource type="Script" path="res://code/bamboo.gd" id="5_ib85v"] +[ext_resource type="Texture2D" uid="uid://q8yev438ec6r" path="res://assets/graphics/monsters/bamboo/move/0.png" id="7_8n247"] +[ext_resource type="Texture2D" uid="uid://dqr075ilm3tu8" path="res://assets/graphics/monsters/bamboo/move/1.png" id="8_c5akp"] +[ext_resource type="Texture2D" uid="uid://hcm2s3v12pkw" path="res://assets/graphics/monsters/bamboo/move/2.png" id="9_t18yx"] +[ext_resource type="Texture2D" uid="uid://dqa5hvprf3kdp" path="res://assets/graphics/monsters/bamboo/move/3.png" id="10_gsrg3"] +[ext_resource type="PackedScene" uid="uid://dxwjan054vgw0" path="res://scenes/notice.tscn" id="11_d502u"] +[ext_resource type="PackedScene" uid="uid://c1i0nirxfagfh" path="res://scenes/attack.tscn" id="12_27c4n"] + +[sub_resource type="RectangleShape2D" id="RectangleShape2D_iyhjt"] +size = Vector2(24, 50) + +[sub_resource type="CircleShape2D" id="CircleShape2D_wx6w8"] +radius = 300.0 + +[sub_resource type="CircleShape2D" id="CircleShape2D_crbjt"] +radius = 40.0 + +[sub_resource type="SpriteFrames" id="SpriteFrames_2w0pn"] +animations = [{ +"frames": [{ +"duration": 1.0, +"texture": ExtResource("2_tihvn") +}], +"loop": true, +"name": &"attack", +"speed": 7.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("1_em175") +}, { +"duration": 1.0, +"texture": ExtResource("2_i1h6v") +}, { +"duration": 1.0, +"texture": ExtResource("3_5ekod") +}, { +"duration": 1.0, +"texture": ExtResource("4_0fhpn") +}], +"loop": true, +"name": &"idle", +"speed": 7.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("7_8n247") +}, { +"duration": 1.0, +"texture": ExtResource("8_c5akp") +}, { +"duration": 1.0, +"texture": ExtResource("9_t18yx") +}, { +"duration": 1.0, +"texture": ExtResource("10_gsrg3") +}], +"loop": true, +"name": &"move", +"speed": 7.0 +}] + +[sub_resource type="Animation" id="Animation_lrur3"] +length = 0.001 +tracks/0/type = "value" +tracks/0/imported = false +tracks/0/enabled = true +tracks/0/path = NodePath("CollisionShape2D:disabled") +tracks/0/interp = 1 +tracks/0/loop_wrap = true +tracks/0/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [false] +} +tracks/1/type = "value" +tracks/1/imported = false +tracks/1/enabled = true +tracks/1/path = NodePath(".:visible") +tracks/1/interp = 1 +tracks/1/loop_wrap = true +tracks/1/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [true] +} +tracks/2/type = "value" +tracks/2/imported = false +tracks/2/enabled = true +tracks/2/path = NodePath("Attack:monitoring") +tracks/2/interp = 1 +tracks/2/loop_wrap = true +tracks/2/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [true] +} +tracks/3/type = "value" +tracks/3/imported = false +tracks/3/enabled = true +tracks/3/path = NodePath("Notice:monitoring") +tracks/3/interp = 1 +tracks/3/loop_wrap = true +tracks/3/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [true] +} +tracks/4/type = "value" +tracks/4/imported = false +tracks/4/enabled = true +tracks/4/path = NodePath(".:collision_mask") +tracks/4/interp = 1 +tracks/4/loop_wrap = true +tracks/4/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [6] +} + +[sub_resource type="Animation" id="Animation_3xlxe"] +resource_name = "death" +tracks/0/type = "value" +tracks/0/imported = false +tracks/0/enabled = true +tracks/0/path = NodePath("CollisionShape2D:disabled") +tracks/0/interp = 1 +tracks/0/loop_wrap = true +tracks/0/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [true] +} +tracks/1/type = "value" +tracks/1/imported = false +tracks/1/enabled = true +tracks/1/path = NodePath(".:visible") +tracks/1/interp = 1 +tracks/1/loop_wrap = true +tracks/1/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [false] +} +tracks/2/type = "value" +tracks/2/imported = false +tracks/2/enabled = true +tracks/2/path = NodePath("Attack:monitoring") +tracks/2/interp = 1 +tracks/2/loop_wrap = true +tracks/2/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [false] +} +tracks/3/type = "value" +tracks/3/imported = false +tracks/3/enabled = true +tracks/3/path = NodePath("Notice:monitoring") +tracks/3/interp = 1 +tracks/3/loop_wrap = true +tracks/3/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [false] +} +tracks/4/type = "value" +tracks/4/imported = false +tracks/4/enabled = true +tracks/4/path = NodePath(".:collision_mask") +tracks/4/interp = 1 +tracks/4/loop_wrap = true +tracks/4/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [0] +} + +[sub_resource type="AnimationLibrary" id="AnimationLibrary_ftwl3"] +_data = { +"RESET": SubResource("Animation_lrur3"), +"death": SubResource("Animation_3xlxe") +} + +[node name="Bamboo" type="CharacterBody2D"] +z_index = 5 +y_sort_enabled = true +position = Vector2(0, -33) +collision_layer = 4 +collision_mask = 6 +script = ExtResource("5_ib85v") +health = 40 + +[node name="CollisionShape2D" type="CollisionShape2D" parent="."] +position = Vector2(0, 2) +shape = SubResource("RectangleShape2D_iyhjt") + +[node name="Notice" parent="." instance=ExtResource("11_d502u")] +position = Vector2(0, 7) + +[node name="CollisionShape2D" type="CollisionShape2D" parent="Notice"] +shape = SubResource("CircleShape2D_wx6w8") + +[node name="Attack" parent="." instance=ExtResource("12_27c4n")] +position = Vector2(0, 5) + +[node name="CollisionShape2D" type="CollisionShape2D" parent="Attack"] +shape = SubResource("CircleShape2D_crbjt") + +[node name="AnimatedSprite2D" type="AnimatedSprite2D" parent="."] +sprite_frames = SubResource("SpriteFrames_2w0pn") +animation = &"idle" +autoplay = "idle" + +[node name="AttackTimer" type="Timer" parent="."] + +[node name="KnockbackTimer" type="Timer" parent="."] +wait_time = 0.5 +one_shot = true + +[node name="AnimationPlayer" type="AnimationPlayer" parent="."] +libraries = { +"": SubResource("AnimationLibrary_ftwl3") +} + +[connection signal="death" from="." to="." method="_on_death"] +[connection signal="body_entered" from="Notice" to="." method="_on_notice_body_entered"] +[connection signal="body_exited" from="Notice" to="." method="_on_notice_body_exited"] +[connection signal="body_entered" from="Attack" to="." method="_on_attack_body_entered"] +[connection signal="body_exited" from="Attack" to="." method="_on_attack_body_exited"] +[connection signal="timeout" from="AttackTimer" to="." method="_on_attack_timer_timeout"] +[connection signal="timeout" from="KnockbackTimer" to="." method="_on_knockback_timer_timeout"] diff --git a/scenes/camera.tscn b/scenes/camera.tscn new file mode 100644 index 0000000..5526776 --- /dev/null +++ b/scenes/camera.tscn @@ -0,0 +1,51 @@ +[gd_scene load_steps=3 format=3 uid="uid://bj4ap7bw0imhy"] + +[ext_resource type="FontFile" uid="uid://bbe5csaxy5g3c" path="res://assets/graphics/font/joystix.ttf" id="1_kqyoj"] + +[sub_resource type="StyleBoxFlat" id="StyleBoxFlat_0lqnv"] +bg_color = Color(0, 0, 0, 1) +border_width_left = 4 +border_width_top = 4 +border_width_right = 4 +border_width_bottom = 4 +border_color = Color(1, 1, 1, 1) + +[node name="Camera" type="Camera2D"] + +[node name="ExpPanel" type="PanelContainer" parent="."] +offset_left = 187.0 +offset_top = 227.0 +offset_right = 568.0 +offset_bottom = 316.0 +theme_override_styles/panel = SubResource("StyleBoxFlat_0lqnv") + +[node name="ExpLabel" type="Label" parent="ExpPanel"] +layout_mode = 2 +theme_override_colors/font_outline_color = Color(0, 0, 0, 1) +theme_override_constants/outline_size = 8 +theme_override_fonts/font = ExtResource("1_kqyoj") +theme_override_font_sizes/font_size = 32 +text = "EXP POINTS + " +horizontal_alignment = 1 +vertical_alignment = 1 +max_lines_visible = 2 + +[node name="HPPanel" type="PanelContainer" parent="."] +offset_left = -569.0 +offset_top = 223.0 +offset_right = -188.0 +offset_bottom = 318.0 +theme_override_styles/panel = SubResource("StyleBoxFlat_0lqnv") + +[node name="HPLabel" type="Label" parent="HPPanel"] +layout_mode = 2 +theme_override_colors/font_outline_color = Color(0, 0, 0, 1) +theme_override_constants/outline_size = 8 +theme_override_fonts/font = ExtResource("1_kqyoj") +theme_override_font_sizes/font_size = 32 +text = "HEALTH +" +horizontal_alignment = 1 +vertical_alignment = 1 +max_lines_visible = 2 diff --git a/scenes/killzone.tscn b/scenes/killzone.tscn new file mode 100644 index 0000000..d88fa05 --- /dev/null +++ b/scenes/killzone.tscn @@ -0,0 +1,13 @@ +[gd_scene load_steps=2 format=3 uid="uid://cuvs5tobahf0x"] + +[ext_resource type="Script" path="res://code/killzone.gd" id="1_nmw5v"] + +[node name="Killzone" type="Area2D"] +script = ExtResource("1_nmw5v") + +[node name="Timer" type="Timer" parent="."] +wait_time = 0.6 +one_shot = true + +[connection signal="body_entered" from="." to="." method="_on_body_entered"] +[connection signal="timeout" from="Timer" to="." method="_on_timer_timeout"] diff --git a/scenes/main.tscn b/scenes/main.tscn new file mode 100644 index 0000000..c7acd44 --- /dev/null +++ b/scenes/main.tscn @@ -0,0 +1,1406 @@ +[gd_scene load_steps=16 format=3 uid="uid://ldrqgub8ip13"] + +[ext_resource type="Script" path="res://code/main.gd" id="1_l8nqt"] +[ext_resource type="PackedScene" uid="uid://c7rps714eqdg5" path="res://scenes/player.tscn" id="1_ykwem"] +[ext_resource type="Texture2D" uid="uid://bd03f5p0dd3em" path="res://assets/graphics/tilemap/Floor.png" id="2_2lxw0"] +[ext_resource type="Texture2D" uid="uid://b5qncrso5bd14" path="res://assets/graphics/tilemap/details.png" id="3_72u1m"] +[ext_resource type="PackedScene" uid="uid://bsjy4oejfrg81" path="res://scenes/bamboo.tscn" id="4_8jerw"] +[ext_resource type="PackedScene" uid="uid://cuvs5tobahf0x" path="res://scenes/killzone.tscn" id="5_3xrri"] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="7_c27o5"] + +[sub_resource type="TileSetAtlasSource" id="TileSetAtlasSource_auqfk"] +texture = ExtResource("2_2lxw0") +texture_region_size = Vector2i(64, 64) +0:0/0 = 0 +0:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:0/0/physics_layer_0/angular_velocity = 0.0 +1:0/0 = 0 +1:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:0/0/physics_layer_0/angular_velocity = 0.0 +2:0/0 = 0 +2:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:0/0/physics_layer_0/angular_velocity = 0.0 +3:0/0 = 0 +3:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:0/0/physics_layer_0/angular_velocity = 0.0 +4:0/0 = 0 +4:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:0/0/physics_layer_0/angular_velocity = 0.0 +5:0/0 = 0 +5:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:0/0/physics_layer_0/angular_velocity = 0.0 +6:0/0 = 0 +6:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:0/0/physics_layer_0/angular_velocity = 0.0 +7:0/0 = 0 +7:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:0/0/physics_layer_0/angular_velocity = 0.0 +8:0/0 = 0 +8:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:0/0/physics_layer_0/angular_velocity = 0.0 +9:0/0 = 0 +9:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:0/0/physics_layer_0/angular_velocity = 0.0 +11:0/0 = 0 +11:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:0/0/physics_layer_0/angular_velocity = 0.0 +11:0/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +12:0/0 = 0 +12:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:0/0/physics_layer_0/angular_velocity = 0.0 +12:0/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +13:0/0 = 0 +13:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:0/0/physics_layer_0/angular_velocity = 0.0 +13:0/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +14:0/0 = 0 +14:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:0/0/physics_layer_0/angular_velocity = 0.0 +15:0/0 = 0 +15:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:0/0/physics_layer_0/angular_velocity = 0.0 +16:0/0 = 0 +16:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:0/0/physics_layer_0/angular_velocity = 0.0 +17:0/0 = 0 +17:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:0/0/physics_layer_0/angular_velocity = 0.0 +18:0/0 = 0 +18:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:0/0/physics_layer_0/angular_velocity = 0.0 +19:0/0 = 0 +19:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:0/0/physics_layer_0/angular_velocity = 0.0 +20:0/0 = 0 +20:0/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:0/0/physics_layer_0/angular_velocity = 0.0 +0:1/0 = 0 +0:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:1/0/physics_layer_0/angular_velocity = 0.0 +1:1/0 = 0 +1:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:1/0/physics_layer_0/angular_velocity = 0.0 +2:1/0 = 0 +2:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:1/0/physics_layer_0/angular_velocity = 0.0 +3:1/0 = 0 +3:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:1/0/physics_layer_0/angular_velocity = 0.0 +4:1/0 = 0 +4:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:1/0/physics_layer_0/angular_velocity = 0.0 +5:1/0 = 0 +5:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:1/0/physics_layer_0/angular_velocity = 0.0 +6:1/0 = 0 +6:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:1/0/physics_layer_0/angular_velocity = 0.0 +7:1/0 = 0 +7:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:1/0/physics_layer_0/angular_velocity = 0.0 +8:1/0 = 0 +8:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:1/0/physics_layer_0/angular_velocity = 0.0 +9:1/0 = 0 +9:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:1/0/physics_layer_0/angular_velocity = 0.0 +11:1/0 = 0 +11:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:1/0/physics_layer_0/angular_velocity = 0.0 +11:1/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +12:1/0 = 0 +12:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:1/0/physics_layer_0/angular_velocity = 0.0 +13:1/0 = 0 +13:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:1/0/physics_layer_0/angular_velocity = 0.0 +13:1/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +14:1/0 = 0 +14:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:1/0/physics_layer_0/angular_velocity = 0.0 +15:1/0 = 0 +15:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:1/0/physics_layer_0/angular_velocity = 0.0 +16:1/0 = 0 +16:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:1/0/physics_layer_0/angular_velocity = 0.0 +16:1/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:1/0 = 0 +17:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:1/0/physics_layer_0/angular_velocity = 0.0 +17:1/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:1/0 = 0 +18:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:1/0/physics_layer_0/angular_velocity = 0.0 +19:1/0 = 0 +19:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:1/0/physics_layer_0/angular_velocity = 0.0 +20:1/0 = 0 +20:1/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:1/0/physics_layer_0/angular_velocity = 0.0 +0:2/0 = 0 +0:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:2/0/physics_layer_0/angular_velocity = 0.0 +1:2/0 = 0 +1:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:2/0/physics_layer_0/angular_velocity = 0.0 +2:2/0 = 0 +2:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:2/0/physics_layer_0/angular_velocity = 0.0 +3:2/0 = 0 +3:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:2/0/physics_layer_0/angular_velocity = 0.0 +4:2/0 = 0 +4:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:2/0/physics_layer_0/angular_velocity = 0.0 +5:2/0 = 0 +5:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:2/0/physics_layer_0/angular_velocity = 0.0 +6:2/0 = 0 +6:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:2/0/physics_layer_0/angular_velocity = 0.0 +7:2/0 = 0 +7:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:2/0/physics_layer_0/angular_velocity = 0.0 +8:2/0 = 0 +8:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:2/0/physics_layer_0/angular_velocity = 0.0 +9:2/0 = 0 +9:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:2/0/physics_layer_0/angular_velocity = 0.0 +10:2/0 = 0 +10:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:2/0/physics_layer_0/angular_velocity = 0.0 +11:2/0 = 0 +11:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:2/0/physics_layer_0/angular_velocity = 0.0 +11:2/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +12:2/0 = 0 +12:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:2/0/physics_layer_0/angular_velocity = 0.0 +12:2/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +13:2/0 = 0 +13:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:2/0/physics_layer_0/angular_velocity = 0.0 +13:2/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +14:2/0 = 0 +14:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:2/0/physics_layer_0/angular_velocity = 0.0 +15:2/0 = 0 +15:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:2/0/physics_layer_0/angular_velocity = 0.0 +16:2/0 = 0 +16:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:2/0/physics_layer_0/angular_velocity = 0.0 +16:2/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:2/0 = 0 +17:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:2/0/physics_layer_0/angular_velocity = 0.0 +17:2/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:2/0 = 0 +18:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:2/0/physics_layer_0/angular_velocity = 0.0 +19:2/0 = 0 +19:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:2/0/physics_layer_0/angular_velocity = 0.0 +20:2/0 = 0 +20:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:2/0/physics_layer_0/angular_velocity = 0.0 +21:2/0 = 0 +21:2/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:2/0/physics_layer_0/angular_velocity = 0.0 +0:3/0 = 0 +0:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:3/0/physics_layer_0/angular_velocity = 0.0 +1:3/0 = 0 +1:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:3/0/physics_layer_0/angular_velocity = 0.0 +2:3/0 = 0 +2:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:3/0/physics_layer_0/angular_velocity = 0.0 +3:3/0 = 0 +3:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:3/0/physics_layer_0/angular_velocity = 0.0 +4:3/0 = 0 +4:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:3/0/physics_layer_0/angular_velocity = 0.0 +5:3/0 = 0 +5:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:3/0/physics_layer_0/angular_velocity = 0.0 +6:3/0 = 0 +6:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:3/0/physics_layer_0/angular_velocity = 0.0 +7:3/0 = 0 +7:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:3/0/physics_layer_0/angular_velocity = 0.0 +8:3/0 = 0 +8:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:3/0/physics_layer_0/angular_velocity = 0.0 +9:3/0 = 0 +9:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:3/0/physics_layer_0/angular_velocity = 0.0 +10:3/0 = 0 +10:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:3/0/physics_layer_0/angular_velocity = 0.0 +11:3/0 = 0 +11:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:3/0/physics_layer_0/angular_velocity = 0.0 +12:3/0 = 0 +12:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:3/0/physics_layer_0/angular_velocity = 0.0 +13:3/0 = 0 +13:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:3/0/physics_layer_0/angular_velocity = 0.0 +14:3/0 = 0 +14:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:3/0/physics_layer_0/angular_velocity = 0.0 +15:3/0 = 0 +15:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:3/0/physics_layer_0/angular_velocity = 0.0 +16:3/0 = 0 +16:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:3/0/physics_layer_0/angular_velocity = 0.0 +17:3/0 = 0 +17:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:3/0/physics_layer_0/angular_velocity = 0.0 +18:3/0 = 0 +18:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:3/0/physics_layer_0/angular_velocity = 0.0 +19:3/0 = 0 +19:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:3/0/physics_layer_0/angular_velocity = 0.0 +20:3/0 = 0 +20:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:3/0/physics_layer_0/angular_velocity = 0.0 +21:3/0 = 0 +21:3/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:3/0/physics_layer_0/angular_velocity = 0.0 +0:4/0 = 0 +0:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:4/0/physics_layer_0/angular_velocity = 0.0 +1:4/0 = 0 +1:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:4/0/physics_layer_0/angular_velocity = 0.0 +4:4/0 = 0 +4:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:4/0/physics_layer_0/angular_velocity = 0.0 +5:4/0 = 0 +5:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:4/0/physics_layer_0/angular_velocity = 0.0 +6:4/0 = 0 +6:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:4/0/physics_layer_0/angular_velocity = 0.0 +7:4/0 = 0 +7:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:4/0/physics_layer_0/angular_velocity = 0.0 +8:4/0 = 0 +8:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:4/0/physics_layer_0/angular_velocity = 0.0 +15:4/0 = 0 +15:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:4/0/physics_layer_0/angular_velocity = 0.0 +16:4/0 = 0 +16:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:4/0/physics_layer_0/angular_velocity = 0.0 +17:4/0 = 0 +17:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:4/0/physics_layer_0/angular_velocity = 0.0 +18:4/0 = 0 +18:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:4/0/physics_layer_0/angular_velocity = 0.0 +19:4/0 = 0 +19:4/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:4/0/physics_layer_0/angular_velocity = 0.0 +0:5/0 = 0 +0:5/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:5/0/physics_layer_0/angular_velocity = 0.0 +1:5/0 = 0 +1:5/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:5/0/physics_layer_0/angular_velocity = 0.0 +2:5/0 = 0 +2:5/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:5/0/physics_layer_0/angular_velocity = 0.0 +3:5/0 = 0 +3:5/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:5/0/physics_layer_0/angular_velocity = 0.0 +4:5/0 = 0 +4:5/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:5/0/physics_layer_0/angular_velocity = 0.0 +11:5/0 = 0 +11:5/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:5/0/physics_layer_0/angular_velocity = 0.0 +0:6/0 = 0 +0:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:6/0/physics_layer_0/angular_velocity = 0.0 +1:6/0 = 0 +1:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:6/0/physics_layer_0/angular_velocity = 0.0 +2:6/0 = 0 +2:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:6/0/physics_layer_0/angular_velocity = 0.0 +3:6/0 = 0 +3:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:6/0/physics_layer_0/angular_velocity = 0.0 +4:6/0 = 0 +4:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:6/0/physics_layer_0/angular_velocity = 0.0 +5:6/0 = 0 +5:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:6/0/physics_layer_0/angular_velocity = 0.0 +11:6/0 = 0 +11:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:6/0/physics_layer_0/angular_velocity = 0.0 +11:6/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +12:6/0 = 0 +12:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:6/0/physics_layer_0/angular_velocity = 0.0 +12:6/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +13:6/0 = 0 +13:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:6/0/physics_layer_0/angular_velocity = 0.0 +13:6/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +14:6/0 = 0 +14:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:6/0/physics_layer_0/angular_velocity = 0.0 +15:6/0 = 0 +15:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:6/0/physics_layer_0/angular_velocity = 0.0 +16:6/0 = 0 +16:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:6/0/physics_layer_0/angular_velocity = 0.0 +17:6/0 = 0 +17:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:6/0/physics_layer_0/angular_velocity = 0.0 +18:6/0 = 0 +18:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:6/0/physics_layer_0/angular_velocity = 0.0 +19:6/0 = 0 +19:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:6/0/physics_layer_0/angular_velocity = 0.0 +20:6/0 = 0 +20:6/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:6/0/physics_layer_0/angular_velocity = 0.0 +0:7/0 = 0 +0:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:7/0/physics_layer_0/angular_velocity = 0.0 +1:7/0 = 0 +1:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:7/0/physics_layer_0/angular_velocity = 0.0 +2:7/0 = 0 +2:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:7/0/physics_layer_0/angular_velocity = 0.0 +3:7/0 = 0 +3:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:7/0/physics_layer_0/angular_velocity = 0.0 +4:7/0 = 0 +4:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:7/0/physics_layer_0/angular_velocity = 0.0 +5:7/0 = 0 +5:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:7/0/physics_layer_0/angular_velocity = 0.0 +6:7/0 = 0 +6:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:7/0/physics_layer_0/angular_velocity = 0.0 +7:7/0 = 0 +7:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:7/0/physics_layer_0/angular_velocity = 0.0 +8:7/0 = 0 +8:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:7/0/physics_layer_0/angular_velocity = 0.0 +9:7/0 = 0 +9:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:7/0/physics_layer_0/angular_velocity = 0.0 +11:7/0 = 0 +11:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:7/0/physics_layer_0/angular_velocity = 0.0 +11:7/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +12:7/0 = 0 +12:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:7/0/physics_layer_0/angular_velocity = 0.0 +13:7/0 = 0 +13:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:7/0/physics_layer_0/angular_velocity = 0.0 +13:7/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +14:7/0 = 0 +14:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:7/0/physics_layer_0/angular_velocity = 0.0 +15:7/0 = 0 +15:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:7/0/physics_layer_0/angular_velocity = 0.0 +16:7/0 = 0 +16:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:7/0/physics_layer_0/angular_velocity = 0.0 +16:7/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:7/0 = 0 +17:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:7/0/physics_layer_0/angular_velocity = 0.0 +17:7/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:7/0 = 0 +18:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:7/0/physics_layer_0/angular_velocity = 0.0 +19:7/0 = 0 +19:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:7/0/physics_layer_0/angular_velocity = 0.0 +20:7/0 = 0 +20:7/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:7/0/physics_layer_0/angular_velocity = 0.0 +0:8/0 = 0 +0:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:8/0/physics_layer_0/angular_velocity = 0.0 +1:8/0 = 0 +1:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:8/0/physics_layer_0/angular_velocity = 0.0 +2:8/0 = 0 +2:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:8/0/physics_layer_0/angular_velocity = 0.0 +3:8/0 = 0 +3:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:8/0/physics_layer_0/angular_velocity = 0.0 +4:8/0 = 0 +4:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:8/0/physics_layer_0/angular_velocity = 0.0 +5:8/0 = 0 +5:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:8/0/physics_layer_0/angular_velocity = 0.0 +6:8/0 = 0 +6:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:8/0/physics_layer_0/angular_velocity = 0.0 +7:8/0 = 0 +7:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:8/0/physics_layer_0/angular_velocity = 0.0 +8:8/0 = 0 +8:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:8/0/physics_layer_0/angular_velocity = 0.0 +9:8/0 = 0 +9:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:8/0/physics_layer_0/angular_velocity = 0.0 +11:8/0 = 0 +11:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:8/0/physics_layer_0/angular_velocity = 0.0 +11:8/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +12:8/0 = 0 +12:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:8/0/physics_layer_0/angular_velocity = 0.0 +12:8/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +13:8/0 = 0 +13:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:8/0/physics_layer_0/angular_velocity = 0.0 +13:8/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +14:8/0 = 0 +14:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:8/0/physics_layer_0/angular_velocity = 0.0 +15:8/0 = 0 +15:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:8/0/physics_layer_0/angular_velocity = 0.0 +16:8/0 = 0 +16:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:8/0/physics_layer_0/angular_velocity = 0.0 +16:8/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:8/0 = 0 +17:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:8/0/physics_layer_0/angular_velocity = 0.0 +17:8/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:8/0 = 0 +18:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:8/0/physics_layer_0/angular_velocity = 0.0 +19:8/0 = 0 +19:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:8/0/physics_layer_0/angular_velocity = 0.0 +20:8/0 = 0 +20:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:8/0/physics_layer_0/angular_velocity = 0.0 +21:8/0 = 0 +21:8/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:8/0/physics_layer_0/angular_velocity = 0.0 +0:9/0 = 0 +0:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:9/0/physics_layer_0/angular_velocity = 0.0 +1:9/0 = 0 +1:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:9/0/physics_layer_0/angular_velocity = 0.0 +2:9/0 = 0 +2:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:9/0/physics_layer_0/angular_velocity = 0.0 +3:9/0 = 0 +3:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:9/0/physics_layer_0/angular_velocity = 0.0 +4:9/0 = 0 +4:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:9/0/physics_layer_0/angular_velocity = 0.0 +5:9/0 = 0 +5:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:9/0/physics_layer_0/angular_velocity = 0.0 +6:9/0 = 0 +6:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:9/0/physics_layer_0/angular_velocity = 0.0 +7:9/0 = 0 +7:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:9/0/physics_layer_0/angular_velocity = 0.0 +8:9/0 = 0 +8:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:9/0/physics_layer_0/angular_velocity = 0.0 +9:9/0 = 0 +9:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:9/0/physics_layer_0/angular_velocity = 0.0 +10:9/0 = 0 +10:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:9/0/physics_layer_0/angular_velocity = 0.0 +11:9/0 = 0 +11:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +11:9/0/physics_layer_0/angular_velocity = 0.0 +12:9/0 = 0 +12:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +12:9/0/physics_layer_0/angular_velocity = 0.0 +13:9/0 = 0 +13:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:9/0/physics_layer_0/angular_velocity = 0.0 +14:9/0 = 0 +14:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:9/0/physics_layer_0/angular_velocity = 0.0 +15:9/0 = 0 +15:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:9/0/physics_layer_0/angular_velocity = 0.0 +16:9/0 = 0 +16:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:9/0/physics_layer_0/angular_velocity = 0.0 +17:9/0 = 0 +17:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:9/0/physics_layer_0/angular_velocity = 0.0 +18:9/0 = 0 +18:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:9/0/physics_layer_0/angular_velocity = 0.0 +19:9/0 = 0 +19:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:9/0/physics_layer_0/angular_velocity = 0.0 +20:9/0 = 0 +20:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:9/0/physics_layer_0/angular_velocity = 0.0 +21:9/0 = 0 +21:9/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:9/0/physics_layer_0/angular_velocity = 0.0 +0:10/0 = 0 +0:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:10/0/physics_layer_0/angular_velocity = 0.0 +1:10/0 = 0 +1:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:10/0/physics_layer_0/angular_velocity = 0.0 +2:10/0 = 0 +2:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:10/0/physics_layer_0/angular_velocity = 0.0 +3:10/0 = 0 +3:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:10/0/physics_layer_0/angular_velocity = 0.0 +4:10/0 = 0 +4:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:10/0/physics_layer_0/angular_velocity = 0.0 +5:10/0 = 0 +5:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:10/0/physics_layer_0/angular_velocity = 0.0 +6:10/0 = 0 +6:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:10/0/physics_layer_0/angular_velocity = 0.0 +7:10/0 = 0 +7:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:10/0/physics_layer_0/angular_velocity = 0.0 +8:10/0 = 0 +8:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:10/0/physics_layer_0/angular_velocity = 0.0 +9:10/0 = 0 +9:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:10/0/physics_layer_0/angular_velocity = 0.0 +10:10/0 = 0 +10:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:10/0/physics_layer_0/angular_velocity = 0.0 +15:10/0 = 0 +15:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:10/0/physics_layer_0/angular_velocity = 0.0 +16:10/0 = 0 +16:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:10/0/physics_layer_0/angular_velocity = 0.0 +17:10/0 = 0 +17:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:10/0/physics_layer_0/angular_velocity = 0.0 +18:10/0 = 0 +18:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:10/0/physics_layer_0/angular_velocity = 0.0 +19:10/0 = 0 +19:10/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:10/0/physics_layer_0/angular_velocity = 0.0 +0:11/0 = 0 +0:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:11/0/physics_layer_0/angular_velocity = 0.0 +1:11/0 = 0 +1:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:11/0/physics_layer_0/angular_velocity = 0.0 +2:11/0 = 0 +2:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:11/0/physics_layer_0/angular_velocity = 0.0 +3:11/0 = 0 +3:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:11/0/physics_layer_0/angular_velocity = 0.0 +4:11/0 = 0 +4:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:11/0/physics_layer_0/angular_velocity = 0.0 +5:11/0 = 0 +5:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:11/0/physics_layer_0/angular_velocity = 0.0 +6:11/0 = 0 +6:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:11/0/physics_layer_0/angular_velocity = 0.0 +7:11/0 = 0 +7:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:11/0/physics_layer_0/angular_velocity = 0.0 +8:11/0 = 0 +8:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:11/0/physics_layer_0/angular_velocity = 0.0 +9:11/0 = 0 +9:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:11/0/physics_layer_0/angular_velocity = 0.0 +10:11/0 = 0 +10:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:11/0/physics_layer_0/angular_velocity = 0.0 +19:11/0 = 0 +19:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:11/0/physics_layer_0/angular_velocity = 0.0 +20:11/0 = 0 +20:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:11/0/physics_layer_0/angular_velocity = 0.0 +21:11/0 = 0 +21:11/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:11/0/physics_layer_0/angular_velocity = 0.0 +0:12/0 = 0 +0:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:12/0/physics_layer_0/angular_velocity = 0.0 +1:12/0 = 0 +1:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:12/0/physics_layer_0/angular_velocity = 0.0 +2:12/0 = 0 +2:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:12/0/physics_layer_0/angular_velocity = 0.0 +3:12/0 = 0 +3:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:12/0/physics_layer_0/angular_velocity = 0.0 +4:12/0 = 0 +4:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:12/0/physics_layer_0/angular_velocity = 0.0 +6:12/0 = 0 +6:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:12/0/physics_layer_0/angular_velocity = 0.0 +7:12/0 = 0 +7:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:12/0/physics_layer_0/angular_velocity = 0.0 +8:12/0 = 0 +8:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:12/0/physics_layer_0/angular_velocity = 0.0 +9:12/0 = 0 +9:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:12/0/physics_layer_0/angular_velocity = 0.0 +10:12/0 = 0 +10:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:12/0/physics_layer_0/angular_velocity = 0.0 +19:12/0 = 0 +19:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:12/0/physics_layer_0/angular_velocity = 0.0 +20:12/0 = 0 +20:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:12/0/physics_layer_0/angular_velocity = 0.0 +21:12/0 = 0 +21:12/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:12/0/physics_layer_0/angular_velocity = 0.0 +0:13/0 = 0 +0:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:13/0/physics_layer_0/angular_velocity = 0.0 +0:13/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, -20.5, -32, -20, 32, -32, 32) +1:13/0 = 0 +1:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:13/0/physics_layer_0/angular_velocity = 0.0 +2:13/0 = 0 +2:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:13/0/physics_layer_0/angular_velocity = 0.0 +2:13/0/physics_layer_0/polygon_0/points = PackedVector2Array(20.5, -32, 32, -32, 32, 32, 20.5, 32) +3:13/0 = 0 +3:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:13/0/physics_layer_0/angular_velocity = 0.0 +4:13/0 = 0 +4:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:13/0/physics_layer_0/angular_velocity = 0.0 +5:13/0 = 0 +5:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:13/0/physics_layer_0/angular_velocity = 0.0 +6:13/0 = 0 +6:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:13/0/physics_layer_0/angular_velocity = 0.0 +7:13/0 = 0 +7:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:13/0/physics_layer_0/angular_velocity = 0.0 +8:13/0 = 0 +8:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:13/0/physics_layer_0/angular_velocity = 0.0 +9:13/0 = 0 +9:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:13/0/physics_layer_0/angular_velocity = 0.0 +19:13/0 = 0 +19:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:13/0/physics_layer_0/angular_velocity = 0.0 +20:13/0 = 0 +20:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:13/0/physics_layer_0/angular_velocity = 0.0 +21:13/0 = 0 +21:13/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:13/0/physics_layer_0/angular_velocity = 0.0 +0:14/0 = 0 +0:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:14/0/physics_layer_0/angular_velocity = 0.0 +0:14/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, -20.5, -32, -20, 32, -32, 32) +1:14/0 = 0 +1:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:14/0/physics_layer_0/angular_velocity = 0.0 +2:14/0 = 0 +2:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:14/0/physics_layer_0/angular_velocity = 0.0 +2:14/0/physics_layer_0/polygon_0/points = PackedVector2Array(20.5, -32, 32, -32, 32, 32, 20.5, 32) +3:14/0 = 0 +3:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:14/0/physics_layer_0/angular_velocity = 0.0 +4:14/0 = 0 +4:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:14/0/physics_layer_0/angular_velocity = 0.0 +5:14/0 = 0 +5:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:14/0/physics_layer_0/angular_velocity = 0.0 +6:14/0 = 0 +6:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:14/0/physics_layer_0/angular_velocity = 0.0 +7:14/0 = 0 +7:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:14/0/physics_layer_0/angular_velocity = 0.0 +8:14/0 = 0 +8:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:14/0/physics_layer_0/angular_velocity = 0.0 +9:14/0 = 0 +9:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:14/0/physics_layer_0/angular_velocity = 0.0 +19:14/0 = 0 +19:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:14/0/physics_layer_0/angular_velocity = 0.0 +20:14/0 = 0 +20:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:14/0/physics_layer_0/angular_velocity = 0.0 +21:14/0 = 0 +21:14/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:14/0/physics_layer_0/angular_velocity = 0.0 +0:15/0 = 0 +0:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:15/0/physics_layer_0/angular_velocity = 0.0 +0:15/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, -20.5, -32, -20, 32, -32, 32) +1:15/0 = 0 +1:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:15/0/physics_layer_0/angular_velocity = 0.0 +2:15/0 = 0 +2:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:15/0/physics_layer_0/angular_velocity = 0.0 +2:15/0/physics_layer_0/polygon_0/points = PackedVector2Array(20.5, -32, 32, -32, 32, 32, 20.5, 32) +3:15/0 = 0 +3:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:15/0/physics_layer_0/angular_velocity = 0.0 +4:15/0 = 0 +4:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:15/0/physics_layer_0/angular_velocity = 0.0 +5:15/0 = 0 +5:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:15/0/physics_layer_0/angular_velocity = 0.0 +6:15/0 = 0 +6:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:15/0/physics_layer_0/angular_velocity = 0.0 +7:15/0 = 0 +7:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:15/0/physics_layer_0/angular_velocity = 0.0 +8:15/0 = 0 +8:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:15/0/physics_layer_0/angular_velocity = 0.0 +9:15/0 = 0 +9:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:15/0/physics_layer_0/angular_velocity = 0.0 +10:15/0 = 0 +10:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:15/0/physics_layer_0/angular_velocity = 0.0 +19:15/0 = 0 +19:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:15/0/physics_layer_0/angular_velocity = 0.0 +20:15/0 = 0 +20:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:15/0/physics_layer_0/angular_velocity = 0.0 +21:15/0 = 0 +21:15/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:15/0/physics_layer_0/angular_velocity = 0.0 +0:16/0 = 0 +0:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:16/0/physics_layer_0/angular_velocity = 0.0 +1:16/0 = 0 +1:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:16/0/physics_layer_0/angular_velocity = 0.0 +2:16/0 = 0 +2:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:16/0/physics_layer_0/angular_velocity = 0.0 +3:16/0 = 0 +3:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:16/0/physics_layer_0/angular_velocity = 0.0 +4:16/0 = 0 +4:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:16/0/physics_layer_0/angular_velocity = 0.0 +5:16/0 = 0 +5:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:16/0/physics_layer_0/angular_velocity = 0.0 +6:16/0 = 0 +6:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:16/0/physics_layer_0/angular_velocity = 0.0 +7:16/0 = 0 +7:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:16/0/physics_layer_0/angular_velocity = 0.0 +8:16/0 = 0 +8:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:16/0/physics_layer_0/angular_velocity = 0.0 +9:16/0 = 0 +9:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:16/0/physics_layer_0/angular_velocity = 0.0 +10:16/0 = 0 +10:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:16/0/physics_layer_0/angular_velocity = 0.0 +19:16/0 = 0 +19:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:16/0/physics_layer_0/angular_velocity = 0.0 +20:16/0 = 0 +20:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:16/0/physics_layer_0/angular_velocity = 0.0 +21:16/0 = 0 +21:16/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:16/0/physics_layer_0/angular_velocity = 0.0 +0:17/0 = 0 +0:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:17/0/physics_layer_0/angular_velocity = 0.0 +1:17/0 = 0 +1:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:17/0/physics_layer_0/angular_velocity = 0.0 +2:17/0 = 0 +2:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:17/0/physics_layer_0/angular_velocity = 0.0 +3:17/0 = 0 +3:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:17/0/physics_layer_0/angular_velocity = 0.0 +4:17/0 = 0 +4:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:17/0/physics_layer_0/angular_velocity = 0.0 +5:17/0 = 0 +5:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:17/0/physics_layer_0/angular_velocity = 0.0 +6:17/0 = 0 +6:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:17/0/physics_layer_0/angular_velocity = 0.0 +7:17/0 = 0 +7:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:17/0/physics_layer_0/angular_velocity = 0.0 +8:17/0 = 0 +8:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:17/0/physics_layer_0/angular_velocity = 0.0 +16:17/0 = 0 +16:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:17/0/physics_layer_0/angular_velocity = 0.0 +17:17/0 = 0 +17:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:17/0/physics_layer_0/angular_velocity = 0.0 +18:17/0 = 0 +18:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:17/0/physics_layer_0/angular_velocity = 0.0 +19:17/0 = 0 +19:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:17/0/physics_layer_0/angular_velocity = 0.0 +20:17/0 = 0 +20:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:17/0/physics_layer_0/angular_velocity = 0.0 +21:17/0 = 0 +21:17/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:17/0/physics_layer_0/angular_velocity = 0.0 +0:18/0 = 0 +0:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:18/0/physics_layer_0/angular_velocity = 0.0 +1:18/0 = 0 +1:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:18/0/physics_layer_0/angular_velocity = 0.0 +2:18/0 = 0 +2:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:18/0/physics_layer_0/angular_velocity = 0.0 +3:18/0 = 0 +3:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:18/0/physics_layer_0/angular_velocity = 0.0 +4:18/0 = 0 +4:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:18/0/physics_layer_0/angular_velocity = 0.0 +5:18/0 = 0 +5:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:18/0/physics_layer_0/angular_velocity = 0.0 +6:18/0 = 0 +6:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:18/0/physics_layer_0/angular_velocity = 0.0 +7:18/0 = 0 +7:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:18/0/physics_layer_0/angular_velocity = 0.0 +8:18/0 = 0 +8:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:18/0/physics_layer_0/angular_velocity = 0.0 +9:18/0 = 0 +9:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:18/0/physics_layer_0/angular_velocity = 0.0 +13:18/0 = 0 +13:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:18/0/physics_layer_0/angular_velocity = 0.0 +14:18/0 = 0 +14:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:18/0/physics_layer_0/angular_velocity = 0.0 +14:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +15:18/0 = 0 +15:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:18/0/physics_layer_0/angular_velocity = 0.0 +15:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +16:18/0 = 0 +16:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:18/0/physics_layer_0/angular_velocity = 0.0 +16:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:18/0 = 0 +17:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:18/0/physics_layer_0/angular_velocity = 0.0 +17:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:18/0 = 0 +18:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:18/0/physics_layer_0/angular_velocity = 0.0 +18:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +19:18/0 = 0 +19:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:18/0/physics_layer_0/angular_velocity = 0.0 +19:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +20:18/0 = 0 +20:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:18/0/physics_layer_0/angular_velocity = 0.0 +21:18/0 = 0 +21:18/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:18/0/physics_layer_0/angular_velocity = 0.0 +21:18/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +0:19/0 = 0 +0:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:19/0/physics_layer_0/angular_velocity = 0.0 +1:19/0 = 0 +1:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:19/0/physics_layer_0/angular_velocity = 0.0 +2:19/0 = 0 +2:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:19/0/physics_layer_0/angular_velocity = 0.0 +3:19/0 = 0 +3:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:19/0/physics_layer_0/angular_velocity = 0.0 +4:19/0 = 0 +4:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:19/0/physics_layer_0/angular_velocity = 0.0 +5:19/0 = 0 +5:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:19/0/physics_layer_0/angular_velocity = 0.0 +6:19/0 = 0 +6:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:19/0/physics_layer_0/angular_velocity = 0.0 +7:19/0 = 0 +7:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:19/0/physics_layer_0/angular_velocity = 0.0 +8:19/0 = 0 +8:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:19/0/physics_layer_0/angular_velocity = 0.0 +9:19/0 = 0 +9:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:19/0/physics_layer_0/angular_velocity = 0.0 +13:19/0 = 0 +13:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:19/0/physics_layer_0/angular_velocity = 0.0 +14:19/0 = 0 +14:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:19/0/physics_layer_0/angular_velocity = 0.0 +14:19/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +15:19/0 = 0 +15:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:19/0/physics_layer_0/angular_velocity = 0.0 +16:19/0 = 0 +16:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:19/0/physics_layer_0/angular_velocity = 0.0 +16:19/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:19/0 = 0 +17:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:19/0/physics_layer_0/angular_velocity = 0.0 +17:19/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:19/0 = 0 +18:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:19/0/physics_layer_0/angular_velocity = 0.0 +18:19/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +19:19/0 = 0 +19:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:19/0/physics_layer_0/angular_velocity = 0.0 +19:19/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +20:19/0 = 0 +20:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:19/0/physics_layer_0/angular_velocity = 0.0 +21:19/0 = 0 +21:19/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:19/0/physics_layer_0/angular_velocity = 0.0 +21:19/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +0:20/0 = 0 +0:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:20/0/physics_layer_0/angular_velocity = 0.0 +1:20/0 = 0 +1:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:20/0/physics_layer_0/angular_velocity = 0.0 +2:20/0 = 0 +2:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:20/0/physics_layer_0/angular_velocity = 0.0 +3:20/0 = 0 +3:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:20/0/physics_layer_0/angular_velocity = 0.0 +4:20/0 = 0 +4:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:20/0/physics_layer_0/angular_velocity = 0.0 +5:20/0 = 0 +5:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:20/0/physics_layer_0/angular_velocity = 0.0 +6:20/0 = 0 +6:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:20/0/physics_layer_0/angular_velocity = 0.0 +7:20/0 = 0 +7:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:20/0/physics_layer_0/angular_velocity = 0.0 +8:20/0 = 0 +8:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:20/0/physics_layer_0/angular_velocity = 0.0 +9:20/0 = 0 +9:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:20/0/physics_layer_0/angular_velocity = 0.0 +10:20/0 = 0 +10:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:20/0/physics_layer_0/angular_velocity = 0.0 +13:20/0 = 0 +13:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:20/0/physics_layer_0/angular_velocity = 0.0 +14:20/0 = 0 +14:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:20/0/physics_layer_0/angular_velocity = 0.0 +14:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +15:20/0 = 0 +15:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:20/0/physics_layer_0/angular_velocity = 0.0 +15:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +16:20/0 = 0 +16:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:20/0/physics_layer_0/angular_velocity = 0.0 +16:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +17:20/0 = 0 +17:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:20/0/physics_layer_0/angular_velocity = 0.0 +17:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +18:20/0 = 0 +18:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:20/0/physics_layer_0/angular_velocity = 0.0 +18:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +19:20/0 = 0 +19:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:20/0/physics_layer_0/angular_velocity = 0.0 +19:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +20:20/0 = 0 +20:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +20:20/0/physics_layer_0/angular_velocity = 0.0 +21:20/0 = 0 +21:20/0/physics_layer_0/linear_velocity = Vector2(0, 0) +21:20/0/physics_layer_0/angular_velocity = 0.0 +21:20/0/physics_layer_0/polygon_0/points = PackedVector2Array(-32, -32, 32, -32, 32, 32, -32, 32) +0:21/0 = 0 +0:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:21/0/physics_layer_0/angular_velocity = 0.0 +1:21/0 = 0 +1:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:21/0/physics_layer_0/angular_velocity = 0.0 +2:21/0 = 0 +2:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:21/0/physics_layer_0/angular_velocity = 0.0 +3:21/0 = 0 +3:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:21/0/physics_layer_0/angular_velocity = 0.0 +4:21/0 = 0 +4:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:21/0/physics_layer_0/angular_velocity = 0.0 +5:21/0 = 0 +5:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:21/0/physics_layer_0/angular_velocity = 0.0 +6:21/0 = 0 +6:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:21/0/physics_layer_0/angular_velocity = 0.0 +7:21/0 = 0 +7:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:21/0/physics_layer_0/angular_velocity = 0.0 +8:21/0 = 0 +8:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:21/0/physics_layer_0/angular_velocity = 0.0 +9:21/0 = 0 +9:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +9:21/0/physics_layer_0/angular_velocity = 0.0 +10:21/0 = 0 +10:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +10:21/0/physics_layer_0/angular_velocity = 0.0 +13:21/0 = 0 +13:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:21/0/physics_layer_0/angular_velocity = 0.0 +14:21/0 = 0 +14:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:21/0/physics_layer_0/angular_velocity = 0.0 +15:21/0 = 0 +15:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:21/0/physics_layer_0/angular_velocity = 0.0 +16:21/0 = 0 +16:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:21/0/physics_layer_0/angular_velocity = 0.0 +17:21/0 = 0 +17:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:21/0/physics_layer_0/angular_velocity = 0.0 +18:21/0 = 0 +18:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:21/0/physics_layer_0/angular_velocity = 0.0 +19:21/0 = 0 +19:21/0/physics_layer_0/linear_velocity = Vector2(0, 0) +19:21/0/physics_layer_0/angular_velocity = 0.0 +0:22/0 = 0 +0:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:22/0/physics_layer_0/angular_velocity = 0.0 +1:22/0 = 0 +1:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:22/0/physics_layer_0/angular_velocity = 0.0 +3:22/0 = 0 +3:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:22/0/physics_layer_0/angular_velocity = 0.0 +4:22/0 = 0 +4:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:22/0/physics_layer_0/angular_velocity = 0.0 +5:22/0 = 0 +5:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:22/0/physics_layer_0/angular_velocity = 0.0 +6:22/0 = 0 +6:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +6:22/0/physics_layer_0/angular_velocity = 0.0 +7:22/0 = 0 +7:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +7:22/0/physics_layer_0/angular_velocity = 0.0 +8:22/0 = 0 +8:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +8:22/0/physics_layer_0/angular_velocity = 0.0 +13:22/0 = 0 +13:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +13:22/0/physics_layer_0/angular_velocity = 0.0 +14:22/0 = 0 +14:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +14:22/0/physics_layer_0/angular_velocity = 0.0 +15:22/0 = 0 +15:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +15:22/0/physics_layer_0/angular_velocity = 0.0 +16:22/0 = 0 +16:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +16:22/0/physics_layer_0/angular_velocity = 0.0 +17:22/0 = 0 +17:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +17:22/0/physics_layer_0/angular_velocity = 0.0 +18:22/0 = 0 +18:22/0/physics_layer_0/linear_velocity = Vector2(0, 0) +18:22/0/physics_layer_0/angular_velocity = 0.0 +0:23/0 = 0 +0:23/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:23/0/physics_layer_0/angular_velocity = 0.0 +1:23/0 = 0 +1:23/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:23/0/physics_layer_0/angular_velocity = 0.0 +2:23/0 = 0 +2:23/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:23/0/physics_layer_0/angular_velocity = 0.0 +3:23/0 = 0 +3:23/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:23/0/physics_layer_0/angular_velocity = 0.0 +4:23/0 = 0 +4:23/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:23/0/physics_layer_0/angular_velocity = 0.0 +0:24/0 = 0 +0:24/0/physics_layer_0/linear_velocity = Vector2(0, 0) +0:24/0/physics_layer_0/angular_velocity = 0.0 +1:24/0 = 0 +1:24/0/physics_layer_0/linear_velocity = Vector2(0, 0) +1:24/0/physics_layer_0/angular_velocity = 0.0 +2:24/0 = 0 +2:24/0/physics_layer_0/linear_velocity = Vector2(0, 0) +2:24/0/physics_layer_0/angular_velocity = 0.0 +3:24/0 = 0 +3:24/0/physics_layer_0/linear_velocity = Vector2(0, 0) +3:24/0/physics_layer_0/angular_velocity = 0.0 +4:24/0 = 0 +4:24/0/physics_layer_0/linear_velocity = Vector2(0, 0) +4:24/0/physics_layer_0/angular_velocity = 0.0 +5:24/0 = 0 +5:24/0/physics_layer_0/linear_velocity = Vector2(0, 0) +5:24/0/physics_layer_0/angular_velocity = 0.0 + +[sub_resource type="TileSet" id="TileSet_xdu0j"] +tile_size = Vector2i(64, 64) +physics_layer_0/collision_layer = 1 +physics_layer_0/collision_mask = 6 +sources/0 = SubResource("TileSetAtlasSource_auqfk") + +[sub_resource type="TileSetAtlasSource" id="TileSetAtlasSource_m24ei"] +texture = ExtResource("3_72u1m") +texture_region_size = Vector2i(64, 64) +0:3/0 = 0 +1:3/0 = 0 +2:3/0 = 0 +3:3/0 = 0 +4:3/0 = 0 +5:3/0 = 0 +6:3/0 = 0 +7:3/0 = 0 +7:2/0 = 0 +6:2/0 = 0 +5:2/0 = 0 +4:2/0 = 0 +3:2/0 = 0 +2:2/0 = 0 +1:2/0 = 0 +0:2/0 = 0 +0:1/0 = 0 +0:0/0 = 0 +1:0/0 = 0 +2:0/0 = 0 +3:0/0 = 0 +4:0/0 = 0 +5:0/0 = 0 +6:0/0 = 0 +7:0/0 = 0 +8:0/0 = 0 +9:0/0 = 0 +10:0/0 = 0 +11:0/0 = 0 +12:0/0 = 0 +13:0/0 = 0 +14:0/0 = 0 +15:0/0 = 0 + +[sub_resource type="TileSet" id="TileSet_orc4v"] +tile_size = Vector2i(64, 64) +sources/0 = SubResource("TileSetAtlasSource_m24ei") + +[sub_resource type="WorldBoundaryShape2D" id="WorldBoundaryShape2D_5dw0q"] +distance = -250.0 + +[sub_resource type="WorldBoundaryShape2D" id="WorldBoundaryShape2D_7ioaa"] +normal = Vector2(-1, 0) +distance = -1724.0 + +[sub_resource type="WorldBoundaryShape2D" id="WorldBoundaryShape2D_fq7i5"] +normal = Vector2(0, 1) +distance = -1727.0 + +[sub_resource type="WorldBoundaryShape2D" 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+atlas = ExtResource("14_1ggki") +region = Rect2(0, 0, 64, 64) + +[sub_resource type="AtlasTexture" id="AtlasTexture_b6l7h"] +atlas = ExtResource("22_5nuot") +region = Rect2(0, 0, 64, 64) + +[sub_resource type="AtlasTexture" id="AtlasTexture_43afb"] +atlas = ExtResource("23_vkm2w") +region = Rect2(0, 0, 64, 64) + +[sub_resource type="AtlasTexture" id="AtlasTexture_kib0g"] +atlas = ExtResource("24_j1lfm") +region = Rect2(0, 0, 64, 64) + +[sub_resource type="AtlasTexture" id="AtlasTexture_3nifw"] +atlas = ExtResource("25_mui4y") +region = Rect2(0, 0, 64, 64) + +[sub_resource type="SpriteFrames" id="SpriteFrames_bjuky"] +animations = [{ +"frames": [{ +"duration": 1.0, +"texture": ExtResource("2_nre2m") +}], +"loop": false, +"name": &"attack_down", +"speed": 2.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("3_byxsk") +}], +"loop": false, +"name": &"attack_left", +"speed": 2.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("4_8jqr7") +}], +"loop": false, +"name": &"attack_right", +"speed": 2.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("5_jmjp6") +}], +"loop": false, +"name": &"attack_up", +"speed": 2.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": SubResource("AtlasTexture_n5xny") +}], +"loop": false, +"name": &"idle_down", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("7_5uysv") +}], +"loop": false, +"name": &"idle_left", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("8_i2d7d") +}], +"loop": false, +"name": &"idle_right", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("9_vygid") +}], +"loop": false, +"name": &"idle_up", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": SubResource("AtlasTexture_1pcxv") +}, { +"duration": 1.0, +"texture": SubResource("AtlasTexture_hc3sy") +}, { +"duration": 1.0, +"texture": SubResource("AtlasTexture_ae5o2") +}, { +"duration": 1.0, +"texture": SubResource("AtlasTexture_dvqaa") +}], +"loop": true, +"name": &"move_down", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": SubResource("AtlasTexture_i6fhi") +}, { +"duration": 1.0, +"texture": ExtResource("15_0b7dq") +}, { +"duration": 1.0, +"texture": ExtResource("16_4yut5") +}, { +"duration": 1.0, +"texture": ExtResource("17_xafwe") +}], +"loop": true, +"name": &"move_left", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": ExtResource("18_g74n4") +}, { +"duration": 1.0, +"texture": ExtResource("19_r3xtt") +}, { +"duration": 1.0, +"texture": ExtResource("20_5b8or") +}, { +"duration": 1.0, +"texture": ExtResource("21_qn80v") +}], +"loop": true, +"name": &"move_right", +"speed": 10.0 +}, { +"frames": [{ +"duration": 1.0, +"texture": SubResource("AtlasTexture_b6l7h") +}, { +"duration": 1.0, +"texture": SubResource("AtlasTexture_43afb") +}, { +"duration": 1.0, +"texture": SubResource("AtlasTexture_kib0g") +}, { +"duration": 1.0, +"texture": SubResource("AtlasTexture_3nifw") +}], +"loop": true, +"name": &"move_up", +"speed": 10.0 +}] + +[sub_resource type="RectangleShape2D" id="RectangleShape2D_ilpv0"] +size = Vector2(47, 48) + +[node name="Player" type="CharacterBody2D"] +z_index = 5 +position = Vector2(0, -31) +collision_layer = 2 +collision_mask = 6 +script = ExtResource("1_iepw4") + +[node name="Button" type="Button" parent="."] +modulate = Color(1, 1, 1, 0) +self_modulate = Color(1, 1, 1, 0) +offset_left = -85.0 +offset_top = -86.0 +offset_right = 85.0 +offset_bottom = 93.0 +icon_alignment = 1 + +[node name="Weapon" parent="." instance=ExtResource("26_5p1ew")] +position = Vector2(-10, 48) + +[node name="AnimatedSprite2D" type="AnimatedSprite2D" parent="."] +position = Vector2(0, -1) +sprite_frames = SubResource("SpriteFrames_bjuky") +animation = &"idle_down" +autoplay = "idle_down" + +[node name="CollisionShape2D" type="CollisionShape2D" parent="."] +position = Vector2(-1.5, 2) +shape = SubResource("RectangleShape2D_ilpv0") + +[node name="AttackTimer" type="Timer" parent="."] +wait_time = 0.4 +one_shot = true + +[node name="Camera" parent="." instance=ExtResource("27_dsoxo")] +visible = false +position = Vector2(-2, 18) + +[node name="AIController2D" type="Node2D" parent="."] +script = ExtResource("28_cl3w8") + +[connection signal="pressed" from="Button" to="." method="_on_button_pressed"] +[connection signal="toggled" from="Button" to="." method="_on_button_toggled"] +[connection signal="timeout" from="AttackTimer" to="." method="_on_attack_timer_timeout"] diff --git a/scenes/weapon.tscn b/scenes/weapon.tscn new file mode 100644 index 0000000..3d0463f --- /dev/null +++ b/scenes/weapon.tscn @@ -0,0 +1,100 @@ +[gd_scene load_steps=8 format=3 uid="uid://dh6xtqap2c2j4"] + +[ext_resource type="Texture2D" uid="uid://bpobfwslfc3qy" path="res://assets/graphics/weapons/sword/down.png" id="1_1yw4v"] +[ext_resource type="Script" path="res://code/weapon.gd" id="1_utwve"] + +[sub_resource type="SpriteFrames" id="SpriteFrames_4n6kd"] +animations = [{ +"frames": [{ +"duration": 1.0, +"texture": ExtResource("1_1yw4v") +}], +"loop": true, +"name": &"down", +"speed": 5.0 +}] + +[sub_resource type="RectangleShape2D" id="RectangleShape2D_iedax"] +size = Vector2(51, 79) + +[sub_resource type="Animation" id="Animation_0n3f6"] +length = 0.001 +tracks/0/type = "value" +tracks/0/imported = false +tracks/0/enabled = true +tracks/0/path = NodePath("AnimatedSprite2D:visible") +tracks/0/interp = 1 +tracks/0/loop_wrap = true +tracks/0/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [false] +} +tracks/1/type = "value" +tracks/1/imported = false +tracks/1/enabled = true +tracks/1/path = NodePath("CollisionShape2D:disabled") +tracks/1/interp = 1 +tracks/1/loop_wrap = true +tracks/1/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [true] +} + +[sub_resource type="Animation" id="Animation_vwacy"] +resource_name = "attack" +tracks/0/type = "value" +tracks/0/imported = false +tracks/0/enabled = true +tracks/0/path = NodePath("AnimatedSprite2D:visible") +tracks/0/interp = 1 +tracks/0/loop_wrap = true +tracks/0/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [true] +} +tracks/1/type = "value" +tracks/1/imported = false +tracks/1/enabled = true +tracks/1/path = NodePath("CollisionShape2D:disabled") +tracks/1/interp = 1 +tracks/1/loop_wrap = true +tracks/1/keys = { +"times": PackedFloat32Array(0), +"transitions": PackedFloat32Array(1), +"update": 1, +"values": [false] +} + +[sub_resource type="AnimationLibrary" id="AnimationLibrary_sb3pq"] +_data = { +"RESET": SubResource("Animation_0n3f6"), +"attack": SubResource("Animation_vwacy") +} + +[node name="Weapon" type="Area2D"] +collision_mask = 4 +script = ExtResource("1_utwve") + +[node name="AnimatedSprite2D" type="AnimatedSprite2D" parent="."] +visible = false +sprite_frames = SubResource("SpriteFrames_4n6kd") +animation = &"down" +flip_h = true + +[node name="CollisionShape2D" type="CollisionShape2D" parent="."] +position = Vector2(10.5, -15.5) +shape = SubResource("RectangleShape2D_iedax") +disabled = true + +[node name="AnimationPlayer" type="AnimationPlayer" parent="."] +libraries = { +"": SubResource("AnimationLibrary_sb3pq") +} + +[connection signal="body_entered" from="." to="." method="_on_body_entered"] diff --git a/script_templates/AIController/controller_template.gd b/script_templates/AIController/controller_template.gd new file mode 100644 index 0000000..ea1ddf1 --- /dev/null +++ b/script_templates/AIController/controller_template.gd @@ -0,0 +1,43 @@ +# meta-name: AI Controller Logic +# meta-description: Methods that need implementing for AI controllers +# meta-default: true +extends _BASE_ + +#-- 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 can be overridden if needed --# + +#func get_obs_space() -> Dictionary: +# May need overriding if the obs space is complex +# var obs = get_obs() +# return { +# "obs": { +# "size": [len(obs["obs"])], +# "space": "box" +# }, +# } diff --git a/shell.nix b/shell.nix new file mode 100644 index 0000000..f655597 --- /dev/null +++ b/shell.nix @@ -0,0 +1,11 @@ +with import {}; + +mkShell { + NIX_LD_LIBRARY_PATH = lib.makeLibraryPath [ + stdenv.cc.cc + ]; + NIX_LD = lib.fileContents "${stdenv.cc}/nix-support/dynamic-linker"; + shellHook = '' + export LD_LIBRARY_PATH=$NIX_LD_LIBRARY_PATH + ''; +} diff --git a/stable_baselines3_example.py b/stable_baselines3_example.py new file mode 100644 index 0000000..4697ab9 --- /dev/null +++ b/stable_baselines3_example.py @@ -0,0 +1,225 @@ +import argparse +import os +import pathlib +from typing import Callable + +from stable_baselines3 import PPO +from stable_baselines3.common.callbacks import CheckpointCallback +from stable_baselines3.common.vec_env.vec_monitor import VecMonitor + +from godot_rl.core.utils import can_import +from godot_rl.wrappers.onnx.stable_baselines_export import export_ppo_model_as_onnx +from godot_rl.wrappers.stable_baselines_wrapper import StableBaselinesGodotEnv + +# To download the env source and binary: +# 1. gdrl.env_from_hub -r edbeeching/godot_rl_BallChase +# 2. chmod +x examples/godot_rl_BallChase/bin/BallChase.x86_64 +if can_import("ray"): + print("WARNING, stable baselines and ray[rllib] are not compatible") + +parser = argparse.ArgumentParser(allow_abbrev=False) +parser.add_argument( + "--env_path", + default=None, + type=str, + help="The Godot binary to use, do not include for in editor training", +) +parser.add_argument( + "--experiment_dir", + default="logs/sb3", + type=str, + help="The name of the experiment directory, in which the tensorboard logs and checkpoints (if enabled) are " + "getting stored.", +) +parser.add_argument( + "--experiment_name", + default="experiment", + type=str, + help="The name of the experiment, which will be displayed in tensorboard and " + "for checkpoint directory and name (if enabled).", +) +parser.add_argument("--seed", type=int, default=0, help="seed of the experiment") +parser.add_argument( + "--resume_model_path", + default=None, + type=str, + help="The path to a model file previously saved using --save_model_path or a checkpoint saved using " + "--save_checkpoints_frequency. Use this to resume training or infer from a saved model.", +) +parser.add_argument( + "--save_model_path", + default=None, + type=str, + help="The path to use for saving the trained sb3 model after training is complete. Saved model can be used later " + "to resume training. Extension will be set to .zip", +) +parser.add_argument( + "--save_checkpoint_frequency", + default=None, + type=int, + help=( + "If set, will save checkpoints every 'frequency' environment steps. " + "Requires a unique --experiment_name or --experiment_dir for each run. " + "Does not need --save_model_path to be set. " + ), +) +parser.add_argument( + "--onnx_export_path", + default=None, + type=str, + help="If included, will export onnx file after training to the path specified.", +) +parser.add_argument( + "--timesteps", + default=1_000_000, + type=int, + help="The number of environment steps to train for, default is 1_000_000. If resuming from a saved model, " + "it will continue training for this amount of steps from the saved state without counting previously trained " + "steps", +) +parser.add_argument( + "--inference", + default=False, + action="store_true", + help="Instead of training, it will run inference on a loaded model for --timesteps steps. " + "Requires --resume_model_path to be set.", +) +parser.add_argument( + "--linear_lr_schedule", + default=False, + action="store_true", + help="Use a linear LR schedule for training. If set, learning rate will decrease until it reaches 0 at " + "--timesteps" + "value. Note: On resuming training, the schedule will reset. If disabled, constant LR will be used.", +) +parser.add_argument( + "--viz", + action="store_true", + help="If set, the simulation will be displayed in a window during training. Otherwise " + "training will run without rendering the simulation. This setting does not apply to in-editor training.", + default=False, +) +parser.add_argument("--speedup", default=1, type=int, help="Whether to speed up the physics in the env") +parser.add_argument( + "--n_parallel", + default=1, + type=int, + help="How many instances of the environment executable to " "launch - requires --env_path to be set if > 1.", +) +args, extras = parser.parse_known_args() + + +def handle_onnx_export(): + # Enforce the extension of onnx and zip when saving model to avoid potential conflicts in case of same name + # and extension used for both + if args.onnx_export_path is not None: + path_onnx = pathlib.Path(args.onnx_export_path).with_suffix(".onnx") + print("Exporting onnx to: " + os.path.abspath(path_onnx)) + export_ppo_model_as_onnx(model, str(path_onnx)) + + +def handle_model_save(): + if args.save_model_path is not None: + zip_save_path = pathlib.Path(args.save_model_path).with_suffix(".zip") + print("Saving model to: " + os.path.abspath(zip_save_path)) + model.save(zip_save_path) + + +def close_env(): + try: + print("closing env") + env.close() + except Exception as e: + print("Exception while closing env: ", e) + + +path_checkpoint = os.path.join(args.experiment_dir, args.experiment_name + "_checkpoints") +abs_path_checkpoint = os.path.abspath(path_checkpoint) + +# Prevent overwriting existing checkpoints when starting a new experiment if checkpoint saving is enabled +if args.save_checkpoint_frequency is not None and os.path.isdir(path_checkpoint): + raise RuntimeError( + abs_path_checkpoint + " folder already exists. " + "Use a different --experiment_dir, or --experiment_name," + "or if previous checkpoints are not needed anymore, " + "remove the folder containing the checkpoints. " + ) + +if args.inference and args.resume_model_path is None: + raise parser.error("Using --inference requires --resume_model_path to be set.") + +if args.env_path is None and args.viz: + print("Info: Using --viz without --env_path set has no effect, in-editor training will always render.") + +env = StableBaselinesGodotEnv( + env_path=args.env_path, show_window=args.viz, seed=args.seed, n_parallel=args.n_parallel, speedup=args.speedup +) +env = VecMonitor(env) + + +# LR schedule code snippet from: +# https://stable-baselines3.readthedocs.io/en/master/guide/examples.html#learning-rate-schedule +def linear_schedule(initial_value: float) -> Callable[[float], float]: + """ + Linear learning rate schedule. + + :param initial_value: Initial learning rate. + :return: schedule that computes + current learning rate depending on remaining progress + """ + + def func(progress_remaining: float) -> float: + """ + Progress will decrease from 1 (beginning) to 0. + + :param progress_remaining: + :return: current learning rate + """ + return progress_remaining * initial_value + + return func + + +if args.resume_model_path is None: + learning_rate = 0.0003 if not args.linear_lr_schedule else linear_schedule(0.0003) + model: PPO = PPO( + "MultiInputPolicy", + env, + batch_size=128, + ent_coef=0.001, + verbose=2, + n_steps=32, + tensorboard_log=args.experiment_dir, + learning_rate=learning_rate, + ) +else: + path_zip = pathlib.Path(args.resume_model_path) + print("Loading model: " + os.path.abspath(path_zip)) + model = PPO.load(path_zip, env=env, tensorboard_log=args.experiment_dir) + +if args.inference: + obs = env.reset() + for i in range(args.timesteps): + action, _state = model.predict(obs, deterministic=True) + obs, reward, done, info = env.step(action) +else: + learn_arguments = dict(total_timesteps=args.timesteps, tb_log_name=args.experiment_name) + if args.save_checkpoint_frequency: + print("Checkpoint saving enabled. Checkpoints will be saved to: " + abs_path_checkpoint) + checkpoint_callback = CheckpointCallback( + save_freq=(args.save_checkpoint_frequency // env.num_envs), + save_path=path_checkpoint, + name_prefix=args.experiment_name, + ) + learn_arguments["callback"] = checkpoint_callback + try: + model.learn(**learn_arguments) + except KeyboardInterrupt: + print( + """Training interrupted by user. Will save if --save_model_path was + used and/or export if --onnx_export_path was used.""" + ) + +close_env() +handle_onnx_export() +handle_model_save()