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sdsandbox-rl-scripts

Modified C# scripts for the sdsandbox Unity simulator, used with the donkeycar-rl-autoresearch RL training 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

Binary assets (textures, models, scenes) are not included here — they come from the upstream sdsandbox repo. See Setup below.

Key modifications (vs upstream tawnkramer/sdsandbox)

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

Setup on a new machine

Step 1 — SSH access to paje.ca (one-time)

Generate an SSH key if you don't have one:

ssh-keygen -t ed25519 -C "your-name@your-machine"

Copy the public key:

cat ~/.ssh/id_ed25519.pub

Add it to Gitea: log in at https://git.paje.ca → Settings → SSH / GPG Keys → Add Key.

Test it:

ssh -T git@paje.ca
# Expected: Hi there, paulh! You've successfully authenticated...

Step 2 — Clone both repos

Clone the upstream sdsandbox (provides all binary assets Unity needs):

git clone https://github.com/tawnkramer/sdsandbox

Clone this repo:

git clone git@paje.ca:paulh/sdsandbox-rl-scripts.git

Step 3 — Overlay our scripts

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/

Step 4 — Open in Unity

Open sdsandbox/sdsim in Unity 6000.4.4f1. Unity will reimport assets on first open (takes a few minutes).

Other Unity versions are not tested and may have incompatible APIs.

Step 5 — Build the simulator

Run the batch build from WSL:

"/mnt/c/Program Files/Unity/Hub/Editor/6000.4.4f1/Editor/Unity.exe" \
  -quit -batchmode \
  -projectPath "C:/path/to/sdsandbox/sdsim" \
  -executeMethod PlayerBuilder.WinBuild \
  -logFile "C:/Users/YourName/AppData/Local/Temp/unity_rebuild.log"

Build output lands in sdsim/Builds/DonkeySimWin/. Copy the Assembly-CSharp.dll from that folder (not Library/ScriptAssemblies/) to the runtime sim folder:

rsync -av "sdsim/Builds/DonkeySimWin/donkey_sim_Data/Managed/Assembly-CSharp.dll" \
  "/path/to/DonkeySimWin/donkey_sim_Data/Managed/Assembly-CSharp.dll"

Keeping scripts up to date

To pull the latest script changes onto an existing sdsandbox clone:

cd sdsandbox-rl-scripts && git pull
cp -r Scripts/*         ../sdsandbox/sdsim/Assets/Scripts/
cp -r ProjectSettings/* ../sdsandbox/sdsim/ProjectSettings/
cp -r Packages/*        ../sdsandbox/sdsim/Packages/

Then rebuild in Unity (Step 5 above).

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