diff --git a/config/ocean/gpudrive.ini b/config/ocean/gpudrive.ini index 56a273ba0b..0235fca9c7 100644 --- a/config/ocean/gpudrive.ini +++ b/config/ocean/gpudrive.ini @@ -3,28 +3,30 @@ package = ocean env_name = puffer_gpudrive policy_name = GPUDrive rnn_name = Recurrent -vec = multiprocessing +vec = native [policy] -input_size = 256 -hidden_size = 256 +input_size = 64 +hidden_size = 128 [rnn] -input_size = 256 -hidden_size = 256 +input_size = 64 +hidden_size = 128 [env] -num_envs = 256 -reward_vehicle_collision = -0.25 -reward_offroad_collision = -0.25 +num_envs = 75 +reward_vehicle_collision = 0 +reward_offroad_collision = 0 [train] -total_timesteps = 250_000_000 -learning_rate = 0.05 -minibatch_size = 32768 -num_workers = 2 -num_envs = 2 +total_timesteps = 150_000_000 +learning_rate = 0.005 +num_workers = 1 +num_envs = 1 env_batch_size = 1 +anneal_lr = True + + [sweep.env.reward_vehicle_collision] distribution = uniform diff --git a/gpudrive_test.c b/gpudrive_test.c new file mode 100644 index 0000000000..afa47bed34 --- /dev/null +++ b/gpudrive_test.c @@ -0,0 +1,29 @@ +#include "gpudrive_test.h" +#include + +void demo(){ + long test_time = 10; + test_struct env = { + .num_agents = 128, + .active_agents =15, + }; + init(&env); + long start = time(NULL); + int i = 0; + int mean_obs = 4000; + int max_obs = 20000; + while (time(NULL) - start < test_time) { + step(&env); + // return; + i++; + } + long end = time(NULL); + printf("SPS: %ld\n", (i *env.active_agents) / (end - start)); + free_initialized(&env); + +} + +int main() { + demo(); + return 0; +} diff --git a/gpudrive_test.h b/gpudrive_test.h new file mode 100644 index 0000000000..3985e03f82 --- /dev/null +++ b/gpudrive_test.h @@ -0,0 +1,126 @@ +#include +#include +#include +#include +#include +#define SELF_OBS 7 +#define OTHER_OBS 11 +#define MAP_OBS 3000 + +static int new_map_obs[MAP_OBS]; + +typedef struct test_struct test_struct; +struct test_struct { + int* observations; + int* agent_states; + int num_agents; + int active_agents; +}; + +void print_obs(test_struct* env, int agent_idx) { + printf("agent %d obs: ", agent_idx); + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + for (int i = 0; i < obs_size_per_agent; i++) { + printf("%d ", env->observations[agent_idx*obs_size_per_agent + i]); + } + printf("\n"); +} + +void print_map_obs(test_struct* env) { + printf("map obs: "); + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + for (int i = 0; i < (MAP_OBS); i++) { + printf("%d ", env->observations[env->active_agents*obs_size_per_agent + i]); + } + printf("\n"); +} + +void add_obs(test_struct* env) { + int obs_idx = 0; + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + for (int i = 0; i < env->active_agents * obs_size_per_agent; i++) { + if (i % obs_size_per_agent == 0 && i != 0) { + obs_idx++; + } + env->observations[i] = obs_idx; + } + for (int i = 0; i < (MAP_OBS); i++) { + env->observations[env->active_agents*obs_size_per_agent + i] = rand() % 100; + } +} + +void set_agents(test_struct* env) { + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + for(int i=0;inum_agents * (obs_size_per_agent);i++) { + env->agent_states[i] = rand() % 100; + } +} + +void init(test_struct* env) { + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + env->agent_states = (int*)calloc(env->num_agents * obs_size_per_agent, sizeof(int)); + env->observations = (int*)calloc(env->active_agents*obs_size_per_agent + MAP_OBS, sizeof(int)); + add_obs(env); +} + +void free_initialized(test_struct* env) { + free(env->observations); + free(env->agent_states); +} + +void compute_observations(test_struct* env, int* rand_agents){ + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + for(int i=0;iactive_agents;i++) { + // printf("selected agents %d\n", rand_agents[i]); + // printf("old obs\n"); + // print_obs(env, i); + memcpy(env->observations + i*obs_size_per_agent, env->agent_states + rand_agents[i]*obs_size_per_agent, obs_size_per_agent*sizeof(int)); + // printf("new obs\n"); + // print_obs(env, i); + memcpy(env->observations + env->active_agents*obs_size_per_agent, new_map_obs, (MAP_OBS)*sizeof(int)); + + } + + +} +void change_world(test_struct* env, int* rand_agents){ + int obs_size_per_agent = SELF_OBS + (env->active_agents-1) * (OTHER_OBS); + for(int i=0;iactive_agents;i++) { + rand_agents[i] = rand() % env->num_agents; + for(int j = 0;jagent_states[rand_agents[i]*obs_size_per_agent + j] = 5; + } + for(int j = 0;jactive_agents-1);j++) { + env->agent_states[rand_agents[i]*obs_size_per_agent + SELF_OBS + j] = 2; + } + + } + /*for (int j=0;jactive_agents-1) * (OTHER_OBS); + int* blah = (int*)calloc(obs_size_per_agent, sizeof(int)); + //int* randoworld = (int*)calloc(MAP_OBS, sizeof(int)); + for(int i =0;iactive_agents;i++){ + rand_agents[i] = rand() % env->num_agents; + memcpy(env->agent_states+rand_agents[i]*obs_size_per_agent, blah, obs_size_per_agent*sizeof(int)); + } + //memcpy(new_map_obs, randoworld, MAP_OBS*sizeof(int)); + free(blah); + //free(randoworld); +} +void step(test_struct* env) { + int rand_agents[env->active_agents]; + // do something + copy_world(env, rand_agents); + //change_world(env,rand_agents); + // compute new obs + compute_observations(env, rand_agents); + // print_obs(env, rand_agents[0]); + // print_obs(env, rand_agents[1]); + // print_map_obs(env); +} diff --git a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx index 2c7d3aaf8e..9f782f1e2d 100644 --- a/pufferlib/ocean/gpudrive/cy_gpudrive.pyx +++ b/pufferlib/ocean/gpudrive/cy_gpudrive.pyx @@ -1,4 +1,5 @@ -from libc.stdlib cimport calloc, free +from libc.stdlib cimport calloc, malloc, free +from libc.string cimport strcpy import numpy as np cdef extern from "gpudrive.h": int LOG_BUFFER_SIZE @@ -82,6 +83,8 @@ cdef extern from "gpudrive.h": float reward_offroad_collision; char* map_name; char* reached_goal_this_turn; + float world_mean_x; + float world_mean_y; ctypedef struct Client @@ -179,47 +182,62 @@ cdef class CyGPUDrive: self.client = NULL self.num_envs = num_envs - self.envs = calloc(num_envs, sizeof(GPUDrive)) + cdef int num_clones + num_clones = 8 + self.envs = calloc(num_envs*num_clones, sizeof(GPUDrive)) self.agent_offsets = calloc(num_envs + 1, sizeof(int)) self.logs = allocate_logbuffer(LOG_BUFFER_SIZE) cdef int i for i in range(num_envs + 1): self.agent_offsets[i] = offsets[i] cdef int inc - for i in range(num_envs): - inc = self.agent_offsets[i] - print(inc) - map_file = f"resources/gpudrive/binaries/map_{i:03d}.bin".encode('utf-8') + cdef int index + cdef int total_envs + total_envs = num_envs * num_clones + cdef int total_agents + total_agents = self.agent_offsets[num_envs] + cdef char* c_map_file + for i in range(total_envs): + env_index = i % num_envs + clone_index = i // num_envs + inc = self.agent_offsets[env_index] + count = self.agent_offsets[env_index+1] - self.agent_offsets[env_index] + clone_agent_offset = clone_index * total_agents + inc + print("Env Index: ", env_index) + print("Increment: ", inc) + print("clone_agent_offset: ", clone_agent_offset) + map_file = f"resources/gpudrive/binaries/map_{env_index:03d}.bin".encode('utf-8') + c_map_file = malloc(len(map_file) + 1) + strcpy(c_map_file, map_file) print("cython map_name", map_file) self.envs[i] = GPUDrive( - observations=&observations[inc, 0], - actions=&actions[inc,0], - rewards=&rewards[inc], - masks=&masks[inc], - dones=&terminals[inc], + observations=&observations[clone_agent_offset, 0], + actions=&actions[clone_agent_offset,0], + rewards=&rewards[clone_agent_offset], + masks=&masks[clone_agent_offset], + dones=&terminals[clone_agent_offset], log_buffer=self.logs, human_agent_idx=human_agent_idx, reward_vehicle_collision=reward_vehicle_collision, reward_offroad_collision=reward_offroad_collision, - map_name = map_file + map_name = c_map_file ) - print("init") init(&self.envs[i]) self.client = NULL def reset(self): cdef int i - for i in range(self.num_envs): + for i in range(self.num_envs*8): c_reset(&self.envs[i]) def step(self): cdef int i - for i in range(self.num_envs): + for i in range(self.num_envs*8): c_step(&self.envs[i]) def render(self): - cdef GPUDrive* env = &self.envs[211] + cdef GPUDrive* env = &self.envs[11] if self.client == NULL: import os cwd = os.getcwd() diff --git a/pufferlib/ocean/gpudrive/gpudrive.c b/pufferlib/ocean/gpudrive/gpudrive.c index 1b9a251bc2..78c5731bf7 100644 --- a/pufferlib/ocean/gpudrive/gpudrive.c +++ b/pufferlib/ocean/gpudrive/gpudrive.c @@ -205,7 +205,7 @@ void performance_test() { } int main() { - demo(); - //performance_test(); + // demo(); + performance_test(); return 0; } diff --git a/pufferlib/ocean/gpudrive/gpudrive.h b/pufferlib/ocean/gpudrive/gpudrive.h index ffea1a3c1b..e01445a15b 100644 --- a/pufferlib/ocean/gpudrive/gpudrive.h +++ b/pufferlib/ocean/gpudrive/gpudrive.h @@ -45,7 +45,7 @@ #define SLOTS_PER_CELL (MAX_ENTITIES_PER_CELL*2 + 1) // Max road segment observation entities -#define MAX_ROAD_SEGMENT_OBSERVATIONS 64 +#define MAX_ROAD_SEGMENT_OBSERVATIONS 200 #define MAX_CARS 64 // Observation Space Constants #define MAX_SPEED 100.0f @@ -234,6 +234,8 @@ struct GPUDrive { float reward_offroad_collision; char* map_name; char* reached_goal_this_turn; + float world_mean_x; + float world_mean_y; }; Entity* load_map_binary(const char* filename, GPUDrive* env) { @@ -333,22 +335,16 @@ void set_start_position(GPUDrive* env){ void set_active_agents(GPUDrive* env){ env->static_car_count = 0; - env->num_cars = 0; + env->num_cars = 1; env->expert_static_car_count = 0; int active_agent_indices[MAX_CARS]; int static_car_indices[MAX_CARS]; int expert_static_car_indices[MAX_CARS]; - env->active_agent_count = 0; - for(int i = env->num_objects-1; i >= 0 && env->num_cars < MAX_CARS; i--){ + env->active_agent_count = 1; + active_agent_indices[0] = env->num_objects-1; + for(int i = 0; i < env->num_objects && env->num_cars < MAX_CARS; i++){ if(env->entities[i].type != 1) continue; if(env->entities[i].traj_valid[0] != 1) continue; - /*for(int j = 1; j < env->entities[i].array_size; j++){ - if(env->entities[i].traj_valid[j] != 1) { - env->entities[i].goal_position_x = env->entities[i].traj_x[j-1]; - env->entities[i].goal_position_y = env->entities[i].traj_y[j-1]; - break; - } - }*/ env->num_cars++; float cos_heading = cosf(env->entities[i].traj_heading[0]); float sin_heading = sinf(env->entities[i].traj_heading[0]); @@ -360,6 +356,7 @@ void set_active_agents(GPUDrive* env){ float distance_to_goal = relative_distance_2d(0, 0, rel_goal_x, rel_goal_y); env->entities[i].width *= 0.7f; env->entities[i].length *= 0.7f; + if(distance_to_goal >= 2.0f && env->entities[i].mark_as_expert == 0){ active_agent_indices[env->active_agent_count] = i; env->active_agent_count++; @@ -371,7 +368,6 @@ void set_active_agents(GPUDrive* env){ env->expert_static_car_count++; } } - } env->active_agent_indices = (int*)malloc(env->active_agent_count * sizeof(int)); env->static_car_indices = (int*)malloc(env->static_car_count * sizeof(int)); @@ -466,7 +462,7 @@ void init_grid_map(GPUDrive* env){ env->grid_cells = (int*)calloc(grid_cell_count*SLOTS_PER_CELL, sizeof(int)); // Populate grid cells for(int i = 0; i < env->num_entities; i++){ - if(env->entities[i].type == ROAD_EDGE){ + if(env->entities[i].type > 3 && env->entities[i].type < 7){ for(int j = 0; j < env->entities[i].array_size - 1; j++){ float x_center = (env->entities[i].traj_x[j] + env->entities[i].traj_x[j+1]) / 2; float y_center = (env->entities[i].traj_y[j] + env->entities[i].traj_y[j+1]) / 2; @@ -579,6 +575,46 @@ int get_neighbor_cache_entities(GPUDrive* env, int cell_idx, int* entities, int return pairs; } +void set_means(GPUDrive* env) { + float mean_x = 0.0f; + float mean_y = 0.0f; + int64_t point_count = 0; + + // Compute single mean for all entities (vehicles and roads) + for (int i = 0; i < env->num_entities; i++) { + if (env->entities[i].type == VEHICLE) { + for (int j = 0; j < env->entities[i].array_size; j++) { + // Assume a validity flag exists (e.g., valid[j]); adjust if not available + if (env->entities[i].traj_valid[j]) { // Add validity check if applicable + point_count++; + mean_x += (env->entities[i].traj_x[j] - mean_x) / point_count; + mean_y += (env->entities[i].traj_y[j] - mean_y) / point_count; + } + } + } else if (env->entities[i].type >= 4) { + for (int j = 0; j < env->entities[i].array_size; j++) { + point_count++; + mean_x += (env->entities[i].traj_x[j] - mean_x) / point_count; + mean_y += (env->entities[i].traj_y[j] - mean_y) / point_count; + } + } + } + env->world_mean_x = mean_x; + env->world_mean_y = mean_y; + for (int i = 0; i < env->num_entities; i++) { + if (env->entities[i].type == VEHICLE || env->entities[i].type >= 4) { + for (int j = 0; j < env->entities[i].array_size; j++) { + if(env->entities[i].traj_x[j] == -10000) continue; + env->entities[i].traj_x[j] -= mean_x; + env->entities[i].traj_y[j] -= mean_y; + } + env->entities[i].goal_position_x -= mean_x; + env->entities[i].goal_position_y -= mean_y; + } + } + +} + void init(GPUDrive* env){ env->human_agent_idx = 0; env->timestep = 0; @@ -586,6 +622,8 @@ void init(GPUDrive* env){ // printf("entities loaded\n"); // printf("num entities: %d\n", env->num_entities); env->dynamics_model = CLASSIC; + set_means(env); + printf("world mean: %f, %f\n", env->world_mean_x, env->world_mean_y); set_active_agents(env); set_start_position(env); // printf("Active agents: %d\n", env->active_agent_count); @@ -814,6 +852,7 @@ void collision_check(GPUDrive* env, int agent_idx) { if(entity_list[i] == agent_idx) continue; Entity* entity; entity = &env->entities[entity_list[i]]; + if(entity->type != ROAD_EDGE) continue; int geometry_idx = entity_list[i + 1]; float start[2] = {entity->traj_x[geometry_idx], entity->traj_y[geometry_idx]}; float end[2] = {entity->traj_x[geometry_idx + 1], entity->traj_y[geometry_idx + 1]}; @@ -942,17 +981,9 @@ void compute_observations(GPUDrive* env) { cars_seen++; obs_idx += 7; // Move to next observation slot } - for(int j = cars_seen; j < MAX_CARS - 1; j++){ - obs[obs_idx] = 0; - obs[obs_idx + 1] = 0; - obs[obs_idx + 2] = 0; - obs[obs_idx + 3] = 0; - obs[obs_idx + 4] = 0; - obs[obs_idx + 5] = 0; - obs[obs_idx + 6] = 0; - obs_idx += 7; - } - + int remaining_partner_obs = (MAX_CARS - 1 - cars_seen) * 7; + memset(&obs[obs_idx], 0, remaining_partner_obs * sizeof(float)); + obs_idx += remaining_partner_obs; // map observations int entity_list[MAX_ROAD_SEGMENT_OBSERVATIONS*2]; // Array big enough for all neighboring cells int grid_idx = getGridIndex(env, ego_entity->x, ego_entity->y); @@ -1052,13 +1083,13 @@ void c_step(GPUDrive* env){ int agent_idx = env->active_agent_indices[i]; env->entities[agent_idx].collision_state = 0; if(env->goal_reached[i]){ - // env->masks[i] = 0; + env->masks[i] = 0; env->entities[agent_idx].x = -10000; env->entities[agent_idx].y = -10000; continue; } move_dynamics(env, i, agent_idx); - //move_expert(env, env->actions, agent_idx); + // move_expert(env, env->actions, agent_idx); collision_check(env, agent_idx); if(env->entities[agent_idx].collision_state > 0 && env->goal_reached[i] == 0){ if(env->entities[agent_idx].collision_state == VEHICLE_COLLISION){ @@ -1079,12 +1110,12 @@ void c_step(GPUDrive* env){ env->entities[agent_idx].goal_position_x, env->entities[agent_idx].goal_position_y); int reached_goal = distance_to_goal < 2.0f; - if(reached_goal){ + if(reached_goal && env->goal_reached[i] == 0){ env->rewards[i] += 1.0f; env->goal_reached[i] = 1; env->reached_goal_this_turn[i] = 1; env->logs[i].episode_return += 1.0f; - // env->dones[i] = 1; + env->dones[i] = 1; continue; } } @@ -1106,6 +1137,10 @@ struct Client { Vector3 camera_target; float camera_zoom; Camera3D camera; + Model cars[6]; + int car_assignments[MAX_CARS]; // To keep car model assignments consistent per vehicle + Vector3 default_camera_position; + Vector3 default_camera_target; }; Client* make_client(GPUDrive* env){ @@ -1116,22 +1151,33 @@ Client* make_client(GPUDrive* env){ InitWindow(client->width, client->height, "PufferLib Ray GPU Drive"); SetTargetFPS(60); client->puffers = LoadTexture("resources/puffers_128.png"); - + client->cars[0] = LoadModel("resources/gpudrive/RedCar.glb"); + client->cars[1] = LoadModel("resources/gpudrive/WhiteCar.glb"); + client->cars[2] = LoadModel("resources/gpudrive/BlueCar.glb"); + client->cars[3] = LoadModel("resources/gpudrive/YellowCar.glb"); + client->cars[4] = LoadModel("resources/gpudrive/GreenCar.glb"); + client->cars[5] = LoadModel("resources/gpudrive/GreyCar.glb"); + for (int i = 0; i < MAX_CARS; i++) { + client->car_assignments[i] = (rand() % 4) + 1; + } // Get initial target position from first active agent + float map_center_x = (env->map_corners[0] + env->map_corners[2]) / 2.0f; + float map_center_y = (env->map_corners[1] + env->map_corners[3]) / 2.0f; Vector3 target_pos = { - env->entities[env->active_agent_indices[0]].x, - env->entities[env->active_agent_indices[0]].y, // Y is up - env->entities[env->active_agent_indices[0]].z // Z is depth + 0, + 0, // Y is up + 1 // Z is depth }; - printf("target_pos: %f, %f, %f\n", target_pos.x, target_pos.y, target_pos.z); // Set up camera to look at target from above and behind - client->camera.position = (Vector3){ - target_pos.x, // Same X as target - target_pos.y + 120.0f, // 20 units above target - target_pos.z + 175.0f // 20 units behind target + client->default_camera_position = (Vector3){ + 0, // Same X as target + 120.0f, // 20 units above target + 175.0f // 20 units behind target }; - client->camera.target = target_pos; + client->default_camera_target = target_pos; + client->camera.position = client->default_camera_position; + client->camera.target = client->default_camera_target; client->camera.up = (Vector3){ 0.0f, -1.0f, 0.0f }; // Y is up client->camera.fovy = 45.0f; client->camera.projection = CAMERA_PERSPECTIVE; @@ -1140,6 +1186,34 @@ Client* make_client(GPUDrive* env){ } void draw_agent_obs(GPUDrive* env, int agent_index){ + // Diamond dimensions + float diamond_height = 3.0f; // Total height of diamond + float diamond_width = 1.5f; // Width of diamond + float diamond_z = 8.0f; // Base Z position + + // Define diamond points + Vector3 top_point = (Vector3){0.0f, 0.0f, diamond_z + diamond_height/2}; // Top point + Vector3 bottom_point = (Vector3){0.0f, 0.0f, diamond_z - diamond_height/2}; // Bottom point + Vector3 front_point = (Vector3){0.0f, diamond_width/2, diamond_z}; // Front point + Vector3 back_point = (Vector3){0.0f, -diamond_width/2, diamond_z}; // Back point + Vector3 left_point = (Vector3){-diamond_width/2, 0.0f, diamond_z}; // Left point + Vector3 right_point = (Vector3){diamond_width/2, 0.0f, diamond_z}; // Right point + + // Draw the diamond faces + // Top pyramid + DrawTriangle3D(top_point, front_point, right_point, PUFF_CYAN); // Front-right face + DrawTriangle3D(top_point, right_point, back_point, PUFF_CYAN); // Back-right face + DrawTriangle3D(top_point, back_point, left_point, PUFF_CYAN); // Back-left face + DrawTriangle3D(top_point, left_point, front_point, PUFF_CYAN); // Front-left face + + // Bottom pyramid + DrawTriangle3D(bottom_point, right_point, front_point, PUFF_CYAN); // Front-right face + DrawTriangle3D(bottom_point, back_point, right_point, PUFF_CYAN); // Back-right face + DrawTriangle3D(bottom_point, left_point, back_point, PUFF_CYAN); // Back-left face + DrawTriangle3D(bottom_point, front_point, left_point, PUFF_CYAN); // Front-left face + if(!IsKeyDown(KEY_LEFT_SHIFT)){ + return; + } int max_obs = 6 + 7*(MAX_CARS - 1) + 7*MAX_ROAD_SEGMENT_OBSERVATIONS; float (*observations)[max_obs] = (float(*)[max_obs])env->observations; float* agent_obs = &observations[agent_index][0]; @@ -1166,10 +1240,36 @@ void draw_agent_obs(GPUDrive* env, int agent_index){ float theta_y = agent_obs[obs_idx + 5]; float partner_angle = atan2f(theta_y, theta_x); // draw an arrow above the car pointing in the direction that the partner is going - float arrow_length = 10.0f; + float arrow_length = 7.5f; float arrow_x = x + arrow_length*cosf(partner_angle); float arrow_y = y + arrow_length*sinf(partner_angle); - DrawLine3D((Vector3){x, y, 1}, (Vector3){arrow_x, arrow_y, 1}, PUFF_CYAN); + DrawLine3D((Vector3){x, y, 1}, (Vector3){arrow_x, arrow_y, 1}, PUFF_WHITE); + // Calculate perpendicular offsets for arrow head + float arrow_size = 2.0f; // Size of the arrow head + float dx = arrow_x - x; + float dy = arrow_y - y; + float length = sqrtf(dx*dx + dy*dy); + if (length > 0) { + // Normalize direction vector + dx /= length; + dy /= length; + + // Calculate perpendicular vector + float px = -dy * arrow_size; + float py = dx * arrow_size; + + // Draw the two lines forming the arrow head + DrawLine3D( + (Vector3){arrow_x, arrow_y, 1}, + (Vector3){arrow_x - dx*arrow_size + px, arrow_y - dy*arrow_size + py, 1}, + PUFF_WHITE + ); + DrawLine3D( + (Vector3){arrow_x, arrow_y, 1}, + (Vector3){arrow_x - dx*arrow_size - px, arrow_y - dy*arrow_size - py, 1}, + PUFF_WHITE + ); + } obs_idx += 7; // Move to next agent observation (7 values per agent) } // Then draw map observations @@ -1200,15 +1300,95 @@ void draw_agent_obs(GPUDrive* env, int agent_index){ float x_end = x_middle + segment_length*cosf(rel_angle); float y_end = y_middle + segment_length*sinf(rel_angle); DrawLine3D((Vector3){0,0,0}, (Vector3){x_middle, y_middle, 1}, lineColor); + DrawCube((Vector3){x_middle, y_middle, 1}, 0.5f, 0.5f, 0.5f, lineColor); DrawLine3D((Vector3){x_start, y_start, 1}, (Vector3){x_end, y_end, 1}, BLUE); } } +void draw_road_edge(GPUDrive* env, float start_x, float start_y, float end_x, float end_y){ + Color CURB_TOP = (Color){220, 220, 220, 255}; // Top surface - lightest + Color CURB_SIDE = (Color){180, 180, 180, 255}; // Side faces - medium + Color CURB_BOTTOM = (Color){160, 160, 160, 255}; + // Calculate curb dimensions + float curb_height = 0.5f; // Height of the curb + float curb_width = 0.3f; // Width/thickness of the curb + + // Calculate direction vector between start and end + Vector3 direction = { + end_x - start_x, + end_y - start_y, + 0.0f + }; + + // Calculate length of the segment + float length = sqrtf(direction.x * direction.x + direction.y * direction.y); + + // Normalize direction vector + Vector3 normalized_dir = { + direction.x / length, + direction.y / length, + 0.0f + }; + + // Calculate perpendicular vector for width + Vector3 perpendicular = { + -normalized_dir.y, + normalized_dir.x, + 0.0f + }; + + // Calculate the four bottom corners of the curb + Vector3 b1 = { + start_x - perpendicular.x * curb_width/2, + start_y - perpendicular.y * curb_width/2, + 1.0f + }; + Vector3 b2 = { + start_x + perpendicular.x * curb_width/2, + start_y + perpendicular.y * curb_width/2, + 1.0f + }; + Vector3 b3 = { + end_x + perpendicular.x * curb_width/2, + end_y + perpendicular.y * curb_width/2, + 1.0f + }; + Vector3 b4 = { + end_x - perpendicular.x * curb_width/2, + end_y - perpendicular.y * curb_width/2, + 1.0f + }; + + // Draw the curb faces + // Bottom face + DrawTriangle3D(b1, b2, b3, CURB_BOTTOM); + DrawTriangle3D(b1, b3, b4, CURB_BOTTOM); + + // Top face (raised by curb_height) + Vector3 t1 = {b1.x, b1.y, b1.z + curb_height}; + Vector3 t2 = {b2.x, b2.y, b2.z + curb_height}; + Vector3 t3 = {b3.x, b3.y, b3.z + curb_height}; + Vector3 t4 = {b4.x, b4.y, b4.z + curb_height}; + DrawTriangle3D(t1, t3, t2, CURB_TOP); + DrawTriangle3D(t1, t4, t3, CURB_TOP); + + // Side faces + DrawTriangle3D(b1, t1, b2, CURB_SIDE); + DrawTriangle3D(t1, t2, b2, CURB_SIDE); + DrawTriangle3D(b2, t2, b3, CURB_SIDE); + DrawTriangle3D(t2, t3, b3, CURB_SIDE); + DrawTriangle3D(b3, t3, b4, CURB_SIDE); + DrawTriangle3D(t3, t4, b4, CURB_SIDE); + DrawTriangle3D(b4, t4, b1, CURB_SIDE); + DrawTriangle3D(t4, t1, b1, CURB_SIDE); +} void c_render(Client* client, GPUDrive* env) { BeginDrawing(); - ClearBackground(PUFF_BACKGROUND); + Color road = (Color){35, 35, 37, 255}; + ClearBackground(road); BeginMode3D(client->camera); + // Draw a grid to help with orientation // DrawGrid(20, 1.0f); DrawLine3D((Vector3){env->map_corners[0], env->map_corners[1], 0}, (Vector3){env->map_corners[2], env->map_corners[1], 0}, PUFF_CYAN); @@ -1260,33 +1440,74 @@ void c_render(Client* client, GPUDrive* env) { // Determine color based on active status and other conditions Color object_color = PUFF_BACKGROUND2; // Default color for non-active vehicles Color outline_color = PUFF_CYAN; + Model car_model = client->cars[5]; if(is_active_agent){ - object_color = PUFF_CYAN; // Active agents are blue + car_model = client->cars[client->car_assignments[i %64]]; } if(agent_index == env->human_agent_idx){ object_color = PUFF_CYAN; outline_color = PUFF_WHITE; } if(is_active_agent && env->entities[i].collision_state > 0) { - object_color = RED; // Collided agent + car_model = client->cars[0]; // Collided agent } // Draw obs for human selected agent if(agent_index == env->human_agent_idx && env->goal_reached[agent_index] == 0) { draw_agent_obs(env, agent_index); } // Draw cube for cars static and active - DrawCube((Vector3){0, 0, 0}, size.x, size.y, size.z, object_color); - DrawCubeWires((Vector3){0, 0, 0}, size.x, size.y, size.z, outline_color); + // Calculate scale factors based on desired size and model dimensions + + BoundingBox bounds = GetModelBoundingBox(car_model); + Vector3 model_size = { + bounds.max.x - bounds.min.x, + bounds.max.y - bounds.min.y, + bounds.max.z - bounds.min.z + }; + Vector3 scale = { + size.x / model_size.x, + size.y / model_size.y, + size.z / model_size.z + }; + DrawModelEx(car_model, (Vector3){0, 0, 0}, (Vector3){1, 0, 0}, 90.0f, scale, WHITE); rlPopMatrix(); + // FPV Camera Control + if(IsKeyDown(KEY_LEFT_CONTROL) && env->human_agent_idx== agent_index){ + if(env->goal_reached[agent_index] == 1){ + env->human_agent_idx = rand() % env->active_agent_count; + } + Vector3 camera_position = (Vector3){ + position.x - (25.0f * cosf(heading)), + position.y - (25.0f * sinf(heading)), + position.z + 15 + }; + + Vector3 camera_target = (Vector3){ + position.x + 40.0f * cosf(heading), + position.y + 40.0f * sinf(heading), + position.z - 5.0f + }; + client->camera.position = camera_position; + client->camera.target = camera_target; + client->camera.up = (Vector3){0, 0, 1}; + } + if(IsKeyReleased(KEY_LEFT_CONTROL)){ + client->camera.position = client->default_camera_position; + client->camera.target = client->default_camera_target; + client->camera.up = (Vector3){0, 0, 1}; + } // Draw goal position for active agents + if(!is_active_agent || env->entities[i].valid == 0) { continue; } - DrawSphere((Vector3){ - env->entities[i].goal_position_x, - env->entities[i].goal_position_y, - 1 - }, 0.5f, DARKGREEN); + if(!IsKeyDown(KEY_LEFT_SHIFT)){ + DrawSphere((Vector3){ + env->entities[i].goal_position_x, + env->entities[i].goal_position_y, + 1 + }, 0.5f, DARKGREEN); + } } // Draw road elements if(env->entities[i].type <=3 && env->entities[i].type >= 7){ @@ -1306,15 +1527,16 @@ void c_render(Client* client, GPUDrive* env) { Color lineColor = GRAY; if (env->entities[i].type == ROAD_LANE) lineColor = GRAY; else if (env->entities[i].type == ROAD_LINE) lineColor = BLUE; - else if (env->entities[i].type == ROAD_EDGE) lineColor = PUFF_CYAN; + else if (env->entities[i].type == ROAD_EDGE) lineColor = WHITE; else if (env->entities[i].type == DRIVEWAY) lineColor = RED; if(env->entities[i].type != ROAD_EDGE){ continue; } if(!IsKeyDown(KEY_LEFT_SHIFT)){ - DrawLine3D(start, end, lineColor); - DrawCube(start, 0.5f, 0.5f, 0.5f, lineColor); - DrawCube(end, 0.5f, 0.5f, 0.5f, lineColor); + draw_road_edge(env, start.x, start.y, end.x, end.y); + // DrawLine3D(start, end, lineColor); + // DrawCube(start, 0.5f, 0.5f, 0.5f, lineColor); + // DrawCube(end, 0.5f, 0.5f, 0.5f, lineColor); } } } @@ -1358,6 +1580,9 @@ void c_render(Client* client, GPUDrive* env) { } void close_client(Client* client){ + for (int i = 0; i < 5; i++) { + UnloadModel(client->cars[i]); + } CloseWindow(); free(client); } diff --git a/pufferlib/ocean/gpudrive/gpudrive.py b/pufferlib/ocean/gpudrive/gpudrive.py index 95d99ab88a..36f87e716b 100644 --- a/pufferlib/ocean/gpudrive/gpudrive.py +++ b/pufferlib/ocean/gpudrive/gpudrive.py @@ -12,7 +12,8 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1, human_agent_idx=0, reward_vehicle_collision=-0.1, reward_offroad_collision=-0.1, - buf = None, seed=1): + buf = None, + seed=1): # env self.num_agents = num_envs @@ -20,7 +21,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1, self.report_interval = report_interval print("Num envs: ", num_envs) - self.num_obs = 6 + 63*7 + 64*7 + self.num_obs = 6 + 63*7 + 200*7 self.single_observation_space = gymnasium.spaces.Box(low=-1, high=1, shape=(self.num_obs,), dtype=np.float32) self.single_action_space = gymnasium.spaces.MultiDiscrete([7, 13]) @@ -28,7 +29,7 @@ def __init__(self, num_envs=1, render_mode=None, report_interval=1, total_agents, agent_offsets =CyGPUDrive.get_total_agent_count( num_envs, human_agent_idx, reward_vehicle_collision, reward_offroad_collision) - self.num_agents = total_agents + self.num_agents = total_agents * 8 print("Num agents: ", self.num_agents) super().__init__(buf=buf) self.c_envs = CyGPUDrive(self.observations, self.actions, self.rewards, self.masks, @@ -167,7 +168,7 @@ def save_map_binary(map_data, output_file): geometry = road.get('geometry', []) road_type = road.get('map_element_id', 0) # breakpoint() - if(len(geometry) > 10 and road_type >= 14 and road_type <=16): + if(len(geometry) > 10 and road_type <=16): geometry = simplify_polyline(geometry, .1) size = len(geometry) # breakpoint() @@ -242,13 +243,13 @@ def process_all_maps(): except Exception as e: print(f"Error processing {map_path.name}: {e}") -def test_performance(timeout=10, atn_cache=1024, num_envs=256): +def test_performance(timeout=10, atn_cache=1024, num_envs=75): import time env = GPUDrive(num_envs=num_envs) env.reset() tick = 0 - num_agents = 1670 + num_agents = 3968 actions = np.stack([ np.random.randint(0, space.n + 1, (atn_cache, num_agents)) for space in env.single_action_space @@ -264,5 +265,5 @@ def test_performance(timeout=10, atn_cache=1024, num_envs=256): if __name__ == '__main__': - #test_performance() + # test_performance() process_all_maps() diff --git a/pufferlib/ocean/torch.py b/pufferlib/ocean/torch.py index 5725655020..feeedecf32 100644 --- a/pufferlib/ocean/torch.py +++ b/pufferlib/ocean/torch.py @@ -478,7 +478,7 @@ def decode_actions(self, flat_hidden): return action, value -# TODO: remove once Impulse Wars build is stable +# ToDO: remove once Impulse Wars build is stable try: from cy_impulse_wars import obsConstants except: @@ -698,22 +698,25 @@ def __init__(self, env, input_size=128, hidden_size=128, **kwargs): self.ego_encoder = nn.Sequential( pufferlib.pytorch.layer_init( nn.Linear(6, input_size)), - #nn.ReLU(), - #pufferlib.pytorch.layer_init( + # nn.ReLU(), + # pufferlib.pytorch.layer_init( # nn.Linear(input_size, input_size)) ) - max_road_objects = 7 + max_road_objects = 13 self.road_encoder = nn.Sequential( pufferlib.pytorch.layer_init( nn.Linear(max_road_objects, input_size)), - #nn.ReLU(), - + # nn.ReLU(), + # pufferlib.pytorch.layer_init( + # nn.Linear(input_size, input_size)) ) max_partner_objects = 7 self.partner_encoder = nn.Sequential( pufferlib.pytorch.layer_init( nn.Linear(max_partner_objects, input_size)), - #nn.ReLU() + # nn.ReLU(), + # pufferlib.pytorch.layer_init( + # nn.Linear(input_size, input_size)) ) ''' @@ -749,13 +752,17 @@ def forward_train(self, x, state=None): def encode_observations(self, observations, state=None): ego_dim = 6 partner_dim = 63 * 7 - road_dim = 64*7 + road_dim = 200*7 ego_obs = observations[:, :ego_dim] partner_obs = observations[:, ego_dim:ego_dim+partner_dim] road_obs = observations[:, ego_dim+partner_dim:ego_dim+partner_dim+road_dim] partner_objects = partner_obs.view(-1, 63, 7) - road_objects = road_obs.view(-1, 64, 7) + road_objects = road_obs.view(-1, 200, 7) + road_continuous = road_objects[:, :, :6] # First 6 features + road_categorical = road_objects[:, :, 6] + road_onehot = F.one_hot(road_categorical.long(), num_classes=7) # Shape: [batch, 200, 7] + road_objects = torch.cat([road_continuous, road_onehot], dim=2) ego_features = self.ego_encoder(ego_obs) partner_features, _ = self.partner_encoder(partner_objects).max(dim=1) @@ -773,8 +780,8 @@ def encode_observations(self, observations, state=None): # )[0] # Pass through shared embedding - #embedding = F.relu(self.shared_embedding(concat_features)) - embedding = self.shared_embedding(concat_features) + embedding = F.relu(self.shared_embedding(concat_features)) + # embedding = self.shared_embedding(concat_features) return embedding def decode_actions(self, flat_hidden): diff --git a/pufferlib/ocean/tower_climb/tower_climb.c b/pufferlib/ocean/tower_climb/tower_climb.c index b99bf659b5..d44990cfe3 100644 --- a/pufferlib/ocean/tower_climb/tower_climb.c +++ b/pufferlib/ocean/tower_climb/tower_climb.c @@ -31,7 +31,7 @@ TowerClimbNet* init_tower_climb_net(Weights* weights, int num_agents) { net->num_agents = num_agents; net->obs_3d = calloc(5 * 5 * 9, sizeof(float)); - net->obs_1d = calloc(4, sizeof(float)); + net->obs_1d = calloc(3, sizeof(float)); net->conv1 = make_conv3d(weights, num_agents, 9, 5, 5, 1, cnn_channels, 3, 1); net->relu1 = make_relu(num_agents, cnn_channels * 3 * 3 * 7); net->conv2 = make_conv3d(weights, num_agents, 7, 3, 3, cnn_channels, cnn_channels, 3, 1); @@ -48,13 +48,13 @@ TowerClimbNet* init_tower_climb_net(Weights* weights, int num_agents) { void forward(TowerClimbNet* net, unsigned char* observations, int* actions) { int vision_size = 5 * 5 * 9; - int player_size = 4; + int player_size = 3; // clear previous observations memset(net->obs_3d, 0, vision_size * sizeof(float)); memset(net->obs_1d, 0, player_size * sizeof(float)); // reshape board to 3d tensor float (*obs_3d)[1][5][5][9] = (float (*)[1][5][5][9])net->obs_3d; - float (*obs_1d)[4] = (float (*)[4])net->obs_1d; + float (*obs_1d)[3] = (float (*)[3])net->obs_1d; // process vision board int obs_3d_idx = 0; for (int b = 0; b < 1; b++) { @@ -71,7 +71,7 @@ void forward(TowerClimbNet* net, unsigned char* observations, int* actions) { for (int i = 0; i < player_size; i++) { obs_1d[0][i] = observations[vision_size + i]; } - + conv3d(net->conv1, net->obs_3d); relu(net->relu1, net->conv1->output); conv3d(net->conv2, net->relu1->output); diff --git a/pufferlib/resources/gpudrive/BlueCar.glb b/pufferlib/resources/gpudrive/BlueCar.glb new file mode 100644 index 0000000000..1f9ab06513 Binary files /dev/null and b/pufferlib/resources/gpudrive/BlueCar.glb differ diff --git a/pufferlib/resources/gpudrive/GreenCar.glb b/pufferlib/resources/gpudrive/GreenCar.glb new file mode 100644 index 0000000000..ff4bd6e777 Binary files /dev/null and b/pufferlib/resources/gpudrive/GreenCar.glb differ diff --git a/pufferlib/resources/gpudrive/GreyCar.glb b/pufferlib/resources/gpudrive/GreyCar.glb new file mode 100644 index 0000000000..d5f8e768f1 Binary files /dev/null and b/pufferlib/resources/gpudrive/GreyCar.glb differ diff --git a/pufferlib/resources/gpudrive/RedCar.glb b/pufferlib/resources/gpudrive/RedCar.glb new file mode 100644 index 0000000000..b0e515f3d6 Binary files /dev/null and b/pufferlib/resources/gpudrive/RedCar.glb differ diff --git a/pufferlib/resources/gpudrive/WhiteCar.glb b/pufferlib/resources/gpudrive/WhiteCar.glb new file mode 100644 index 0000000000..4475db8575 Binary files /dev/null and b/pufferlib/resources/gpudrive/WhiteCar.glb differ diff --git a/pufferlib/resources/gpudrive/YellowCar.glb b/pufferlib/resources/gpudrive/YellowCar.glb new file mode 100644 index 0000000000..e6ed90bcd6 Binary files /dev/null and b/pufferlib/resources/gpudrive/YellowCar.glb differ diff --git a/pufferlib/resources/tfrecord-00000-of-01000_325.json b/pufferlib/resources/tfrecord-00000-of-01000_325.json new file mode 100644 index 0000000000..bb197d440f --- /dev/null +++ b/pufferlib/resources/tfrecord-00000-of-01000_325.json @@ -0,0 +1 @@ +{"name": "tfrecord-00000-of-01000_325.json", "scenario_id": "ef3a8f65142f41ac", "objects": [{"position": [{"x": -8330.69921875, "y": 8096.3125, "z": -38.52962875366211}, {"x": -8329.8330078125, "y": 8095.95556640625, "z": -38.500244512748395}, {"x": -8328.87109375, "y": 8095.533203125, "z": -38.49168714732872}, {"x": -8327.91796875, "y": 8095.09716796875, "z": -38.482875825391815}, {"x": -8326.9345703125, "y": 8094.64990234375, "z": -38.4840157041386}, {"x": -8325.93359375, "y": 8094.1865234375, "z": -38.47635243273912}, {"x": -8324.958984375, "y": 8093.74658203125, "z": -38.46117327593842}, {"x": 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your_file.c [debug|release] + +SOURCE=$1 +MODE=${2:-debug} +PLATFORM="$(uname -s)" + +# Extract filename without extension +FILENAME=$(basename -- "$SOURCE") +FILENAME="${FILENAME%.*}" + +FLAGS=( + -Wall + "$SOURCE" -o "$FILENAME" + -lm + -lpthread +) + +if [ "$PLATFORM" = "Darwin" ]; then + FLAGS+=( + -framework Cocoa + -framework IOKit + -framework CoreVideo + ) +fi + +echo "Compiling with: ${FLAGS[@]}" + +if [ "$MODE" = "debug" ]; then + echo "Building $SOURCE in debug mode..." + if [ "$PLATFORM" = "Linux" ]; then + # These important debug flags don't work on macos + FLAGS+=( + -fsanitize=address,undefined,bounds,pointer-overflow,leak -g + ) + fi + clang -g -O0 ${FLAGS[@]} + echo "Built to: $FILENAME (debug mode)" +elif [ "$MODE" = "release" ]; then + echo "Building optimized $SOURCE..." + clang -O2 ${FLAGS[@]} + echo "Built to: $FILENAME (release mode)" +else + echo "Invalid mode specified: debug|release" + exit 1 +fi \ No newline at end of file diff --git a/setup.py b/setup.py index 100ca7c254..c43853440e 100644 --- a/setup.py +++ b/setup.py @@ -282,6 +282,7 @@ 'pufferlib/ocean/trash_pickup/cy_trash_pickup', 'pufferlib/ocean/cpr/cy_cpr', 'pufferlib/ocean/tower_climb/cy_tower_climb', + 'pufferlib/ocean/gpudrive/cy_gpudrive', ] system = platform.system()