Moved Godot version to own repo for clarity

.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/

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.

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

addons/Todo_Manager/ColourPicker.gd

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+@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 

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

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)

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

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

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)

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)

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

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"]

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"

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

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"

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()

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

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

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

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

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

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")

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

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

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

addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml

@@ -0,0 +1,31 @@
+<docs>
+	<members name="ONNXInference">
+		<ONNXInference>
+			<summary>
+       		The main <c>ONNXInference</c> Class that handles the inference process.
+        	</summary>
+		</ONNXInference>
+   		<Initialize>
+        	<summary>
+			Starts the inference process. 
+			</summary>
+			<param name="Path">Path to the ONNX model, expects a path inside resources.</param>
+			<param name="BatchSize">How many observations will the model recieve.</param>
+		</Initialize>
+		<Run>
+			<summary>
+			Runs the given input through the model and returns the output.
+			</summary>
+			<param name="obs">Dictionary containing all observations.</param>
+			<param name="state_ins">How many different agents are creating these observations.</param>
+			<returns>A Dictionary of arrays, containing instructions based on the observations.</returns>
+		</Run>
+		<Load>
+			<summary>
+			Loads the given model into the inference process, using the best Execution provider available.
+			</summary>
+			<param name="Path">Path to the ONNX model, expects a path inside resources.</param>
+			<returns>InferenceSession ready to run.</returns>
+		</Load>
+	</members>
+</docs>

addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml

@@ -0,0 +1,29 @@
+<docs>
+	<members name="SessionConfigurator">
+		<SessionConfigurator>
+			<summary>
+       		The main <c>SessionConfigurator</c> Class that handles the execution options and providers for the inference process.
+        	</summary>
+		</SessionConfigurator>
+  		<GetSessionOptions>
+    	    <summary>
+    	    Creates a SessionOptions with all available execution providers.
+    	    </summary>
+			<returns>SessionOptions with all available execution providers.</returns>
+    	</GetSessionOptions>
+    	<SystemCheck>
+        	<summary>
+        	Appends any execution provider available in the current system.  
+        	</summary>
+			<remarks>
+				This function is mainly verbose for tracking implementation progress of different compute APIs. 
+			</remarks>
+    	</SystemCheck>
+    	<ComputeCheck>
+        	<summary>
+        		Checks for available GPUs.
+        	</summary>
+			<returns>An integer identifier for each compute platform.</returns>
+    	</ComputeCheck>
+	</members>
+</docs>

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

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"

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")

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)

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

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

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

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)

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)

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

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]

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

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

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)

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)

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()

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()