[gd_scene load_steps=16 format=3 uid="uid://3gt386v3b1ej"]

[ext_resource type="Script" path="res://scenes/robot/robot.gd" id="1_jpfj0"]
[ext_resource type="PackedScene" uid="uid://bp76uev4ua5uy" path="res://blender/robot.blend" id="1_kysqn"]
[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="3_k05bk"]
[ext_resource type="Script" path="res://scenes/robot/RobotAIController.gd" id="4_f5vwx"]

[sub_resource type="PhysicsMaterial" id="PhysicsMaterial_3x7cx"]
friction = 0.0

[sub_resource type="CapsuleShape3D" id="CapsuleShape3D_jp65j"]
radius = 0.339085
height = 0.744042

[sub_resource type="Gradient" id="Gradient_4bcu7"]
offsets = PackedFloat32Array(0, 0.998211)
colors = PackedColorArray(0.6, 0.388235, 0, 1, 0.6, 0.278431, 0, 0)

[sub_resource type="GradientTexture1D" id="GradientTexture1D_qcbs8"]
gradient = SubResource("Gradient_4bcu7")

[sub_resource type="Curve" id="Curve_qrfli"]
_data = [Vector2(0.00851789, 0.59552), 0.0, 0.0, 0, 0, Vector2(1, 1), 0.0, 0.0, 0, 0]
point_count = 2

[sub_resource type="CurveTexture" id="CurveTexture_w84kp"]
curve = SubResource("Curve_qrfli")

[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_imhhe"]
emission_shape = 3
emission_box_extents = Vector3(0.2, 0, 0)
gravity = Vector3(0, 0, 0)
scale_curve = SubResource("CurveTexture_w84kp")
color_ramp = SubResource("GradientTexture1D_qcbs8")

[sub_resource type="Gradient" id="Gradient_beaai"]
offsets = PackedFloat32Array(0, 0.552398)
colors = PackedColorArray(1, 1, 1, 0.65098, 1, 1, 1, 0)

[sub_resource type="GradientTexture2D" id="GradientTexture2D_u8cd4"]
gradient = SubResource("Gradient_beaai")
fill = 1
fill_from = Vector2(0.5, 0.5)

[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_jrh46"]
transparency = 1
vertex_color_use_as_albedo = true
albedo_texture = SubResource("GradientTexture2D_u8cd4")
billboard_mode = 3
particles_anim_h_frames = 1
particles_anim_v_frames = 1
particles_anim_loop = false

[sub_resource type="QuadMesh" id="QuadMesh_aiaq2"]
material = SubResource("StandardMaterial3D_jrh46")
size = Vector2(0.5, 0.5)

[node name="Robot" type="RigidBody3D" node_paths=PackedStringArray("wheels")]
collision_layer = 2
collision_mask = 5
axis_lock_linear_z = true
axis_lock_angular_x = true
axis_lock_angular_y = true
axis_lock_angular_z = true
physics_material_override = SubResource("PhysicsMaterial_3x7cx")
gravity_scale = 0.0
continuous_cd = true
linear_damp_mode = 1
linear_damp = 20.0
script = ExtResource("1_jpfj0")
wheels = [NodePath("robot/Robot/Wheels")]

[node name="robot" parent="." instance=ExtResource("1_kysqn")]

[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
transform = Transform3D(-1, 3.89414e-07, 0, -3.89414e-07, -1, 0, 0, 0, 1, 0, 0.212432, 0)
shape = SubResource("CapsuleShape3D_jp65j")

[node name="Node3D" type="Node3D" parent="."]
transform = Transform3D(-0.0218088, -0.607985, 0.793649, 0, 0.793838, 0.608129, -0.999762, 0.0132626, -0.0173126, 13.2659, 11.8416, -0.404609)

[node name="Sensors" type="Node3D" parent="."]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.004, 0, 0)

[node name="WallSensor" type="Node3D" parent="Sensors"]
transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0)
visible = false
script = ExtResource("3_k05bk")
boolean_class_mask = 0
n_rays_width = 1.0
n_rays_height = 2.0
ray_length = 5.0
cone_width = 0.0
cone_height = 360.0

[node name="@RayCast3D@60222" type="RayCast3D" parent="Sensors/WallSensor"]
target_position = Vector3(0, -5, 3.06152e-16)

[node name="@RayCast3D@60223" type="RayCast3D" parent="Sensors/WallSensor"]
target_position = Vector3(0, 5, 3.06152e-16)

[node name="FloorSensor" type="Node3D" parent="Sensors"]
transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0)
visible = false
script = ExtResource("3_k05bk")
boolean_class_mask = 0
n_rays_width = 1.0
n_rays_height = 2.0
ray_length = 2.0
cone_width = 0.0
cone_height = 182.56

[node name="@RayCast3D@60442" type="RayCast3D" parent="Sensors/FloorSensor"]
target_position = Vector3(0, -1.42992, 1.39833)

[node name="@RayCast3D@60443" type="RayCast3D" parent="Sensors/FloorSensor"]
target_position = Vector3(0, 1.42992, 1.39833)

[node name="AIController3D" type="Node3D" parent="."]
script = ExtResource("4_f5vwx")

[node name="JumpSensor" type="RayCast3D" parent="."]
target_position = Vector3(0, -0.34, 0)
hit_back_faces = false

[node name="GPUParticles3D" type="GPUParticles3D" parent="."]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.0624974, 0)
amount = 128
lifetime = 3.0
process_material = SubResource("ParticleProcessMaterial_imhhe")
draw_pass_1 = SubResource("QuadMesh_aiaq2")