# sdsandbox-rl-scripts

Modified C# scripts for the sdsandbox Unity simulator, used with the
[donkeycar-rl-autoresearch](https://paje.ca/git/paulh/donkeycar-rl-autoresearch) project.

## What's here

- `Scripts/` — all C# scripts from `sdsim/Assets/Scripts/`, including our RL training modifications
- `ProjectSettings/` — Unity project settings
- `Packages/` — Unity package manifest

## Key modifications (vs upstream tawnkramer/sdsandbox)

- **`Car.cs`** — per-wheel OverlapSphere barrier collision detection; CCD mode
- **`TcpCarHandler.cs`** — `regen_road` message support with direct RoadBuilder+PathManager fallback when no TrainingManager present; `set_ai_text` overlay message
- **`PathManager.cs`** — self-intersection fix: retry loop with XZ segment-segment math (up to 20 retries)
- **`RoadBuilder.cs`** — BoxCollider per segment with overlap; `showBarrierMeshes` flag
- **`MapOverlay.cs`** — minimap refresh on road node position change (not just count)

## Setup on a new machine

1. Clone the upstream sdsandbox (provides all binary assets Unity needs):
   ```bash
   git clone https://github.com/tawnkramer/sdsandbox
   ```

2. Clone this repo:
   ```bash
   git clone git@paje.ca:paulh/sdsandbox-rl-scripts.git
   ```

3. Overlay our scripts into the sdsandbox project:
   ```bash
   cp -r sdsandbox-rl-scripts/Scripts/*        sdsandbox/sdsim/Assets/Scripts/
   cp -r sdsandbox-rl-scripts/ProjectSettings/* sdsandbox/sdsim/ProjectSettings/
   cp -r sdsandbox-rl-scripts/Packages/*        sdsandbox/sdsim/Packages/
   ```

4. Open `sdsandbox/sdsim` in Unity 6000.4.4f1. Unity will reimport assets on first open.

5. Build: **Edit → Project Settings → Player Builder → WinBuild** (or use the batch build command from the donkeycar-rl-autoresearch SESSION_HANDOFF.md).

## Unity version

**Unity 6000.4.4f1** — other versions are not tested and may have incompatible APIs.