102 lines
3.3 KiB
Markdown
102 lines
3.3 KiB
Markdown
# sdsandbox-rl-scripts
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Modified C# scripts for the sdsandbox Unity simulator, used with the
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[donkeycar-rl-autoresearch](https://git.paje.ca/paulh/donkeycar-rl-autoresearch) RL training project.
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## What's here
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- `Scripts/` — all C# scripts from `sdsim/Assets/Scripts/`, including our RL training modifications
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- `ProjectSettings/` — Unity project settings
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- `Packages/` — Unity package manifest
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Binary assets (textures, models, scenes) are **not** included here — they come from the
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upstream sdsandbox repo. See **Setup** below.
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## Key modifications (vs upstream tawnkramer/sdsandbox)
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- **`Car.cs`** — per-wheel OverlapSphere barrier collision detection; CCD tunneling prevention
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- **`TcpCarHandler.cs`** — `regen_road` TCP message with direct RoadBuilder+PathManager fallback
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when no TrainingManager is present; `set_ai_text` overlay message; BrakeOnUpdate support
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- **`PathManager.cs`** — self-intersection fix: retry loop with XZ segment-segment math (up to 20 retries)
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- **`RoadBuilder.cs`** — BoxCollider per segment with overlap to close corner gaps; `showBarrierMeshes` flag
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- **`MapOverlay.cs`** — minimap refreshes on road node position change (not just node count)
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## Setup on a new machine
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### Step 1 — SSH access to paje.ca (one-time)
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Generate an SSH key if you don't have one:
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```bash
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ssh-keygen -t ed25519 -C "your-name@your-machine"
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```
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Copy the public key:
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```bash
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cat ~/.ssh/id_ed25519.pub
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```
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Add it to Gitea: log in at **https://git.paje.ca** → Settings → SSH / GPG Keys → Add Key.
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Test it:
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```bash
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ssh -T git@paje.ca
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# Expected: Hi there, paulh! You've successfully authenticated...
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```
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### Step 2 — Clone both repos
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Clone the upstream sdsandbox (provides all binary assets Unity needs):
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```bash
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git clone https://github.com/tawnkramer/sdsandbox
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```
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Clone this repo:
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```bash
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git clone git@paje.ca:paulh/sdsandbox-rl-scripts.git
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```
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### Step 3 — Overlay our scripts
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```bash
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cp -r sdsandbox-rl-scripts/Scripts/* sdsandbox/sdsim/Assets/Scripts/
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cp -r sdsandbox-rl-scripts/ProjectSettings/* sdsandbox/sdsim/ProjectSettings/
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cp -r sdsandbox-rl-scripts/Packages/* sdsandbox/sdsim/Packages/
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```
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### Step 4 — Open in Unity
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Open `sdsandbox/sdsim` in **Unity 6000.4.4f1**. Unity will reimport assets on first open
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(takes a few minutes).
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Other Unity versions are not tested and may have incompatible APIs.
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### Step 5 — Build the simulator
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Run the batch build from WSL:
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```bash
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"/mnt/c/Program Files/Unity/Hub/Editor/6000.4.4f1/Editor/Unity.exe" \
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-quit -batchmode \
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-projectPath "C:/path/to/sdsandbox/sdsim" \
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-executeMethod PlayerBuilder.WinBuild \
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-logFile "C:/Users/YourName/AppData/Local/Temp/unity_rebuild.log"
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```
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Build output lands in `sdsim/Builds/DonkeySimWin/`. Copy the `Assembly-CSharp.dll`
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from **that folder** (not `Library/ScriptAssemblies/`) to the runtime sim folder:
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```bash
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rsync -av "sdsim/Builds/DonkeySimWin/donkey_sim_Data/Managed/Assembly-CSharp.dll" \
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"/path/to/DonkeySimWin/donkey_sim_Data/Managed/Assembly-CSharp.dll"
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```
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## Keeping scripts up to date
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To pull the latest script changes onto an existing sdsandbox clone:
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```bash
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cd sdsandbox-rl-scripts && git pull
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cp -r Scripts/* ../sdsandbox/sdsim/Assets/Scripts/
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cp -r ProjectSettings/* ../sdsandbox/sdsim/ProjectSettings/
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cp -r Packages/* ../sdsandbox/sdsim/Packages/
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```
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Then rebuild in Unity (Step 5 above).
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