simulator

src/main.rs

@@ -411,13 +411,201 @@ fn training() {
 		.unwrap();
 }
 
+use strafesnet_common::instruction::TimedInstruction;
+use strafesnet_common::mouse::MouseState;
+use strafesnet_common::physics::{
+	Instruction as PhysicsInputInstruction, MiscInstruction, ModeInstruction, MouseInstruction,
+	SetControlInstruction, Time as PhysicsTime,
+};
+use strafesnet_physics::physics::{PhysicsContext, PhysicsData, PhysicsState};
+
+pub struct Recording {
+	instructions: Vec<TimedInstruction<PhysicsInputInstruction, PhysicsTime>>,
+}
+struct FrameState {
+	trajectory: strafesnet_physics::physics::Trajectory,
+	camera: strafesnet_physics::physics::PhysicsCamera,
+}
+impl FrameState {
+	fn pos(&self, time: PhysicsTime) -> glam::Vec3 {
+		self.trajectory
+			.extrapolated_position(time)
+			.map(Into::<f32>::into)
+			.to_array()
+			.into()
+	}
+	fn angles(&self) -> glam::Vec2 {
+		self.camera.simulate_move_angles(glam::IVec2::ZERO)
+	}
+}
+struct Session {
+	geometry_shared: PhysicsData,
+	simulation: PhysicsState,
+	recording: Recording,
+}
+impl Session {
+	fn get_frame_state(&self) -> FrameState {
+		FrameState {
+			trajectory: self.simulation.camera_trajectory(&self.geometry_shared),
+			camera: self.simulation.camera(),
+		}
+	}
+	fn run(&mut self, time: PhysicsTime, instruction: PhysicsInputInstruction) {
+		let instruction = TimedInstruction { time, instruction };
+		self.recording.instructions.push(instruction.clone());
+		PhysicsContext::run_input_instruction(
+			&mut self.simulation,
+			&self.geometry_shared,
+			instruction,
+		);
+	}
+}
+
 fn inference() {
+	let mut args = std::env::args().skip(1);
+
+	// pick device
+	let gpu_id: usize = args
+		.next()
+		.map(|id| id.parse().unwrap())
+		.unwrap_or_default();
+	let device = burn::backend::cuda::CudaDevice::new(gpu_id);
+
+	// load model
+	let path: std::path::PathBuf = args.next().unwrap().parse().unwrap();
+	let mut model: Net<InferenceBackend> = Net::init(&device);
+	model = model
+		.load_file(
+			path,
+			&burn::record::BinFileRecorder::<burn::record::FullPrecisionSettings>::new(),
+			&device,
+		)
+		.unwrap();
+
 	// load map
+	let map_file = include_bytes!("../files/bhop_marble_5692093612.snfm");
+	let map = strafesnet_snf::read_map(std::io::Cursor::new(map_file))
+		.unwrap()
+		.into_complete_map()
+		.unwrap();
+	let modes = map.modes.clone().denormalize();
+	let mode = modes
+		.get_mode(strafesnet_common::gameplay_modes::ModeId::MAIN)
+		.unwrap();
+	let start_zone = map.models.get(mode.get_start().get() as usize).unwrap();
+	let start_offset = glam::Vec3::from_array(
+		start_zone
+			.transform
+			.translation
+			.map(|f| f.into())
+			.to_array(),
+	);
+
+	// setup graphics
+	let mut g = GraphicsState::new(&map);
+
 	// setup simulation
+	let mut session = Session {
+		geometry_shared: PhysicsData::new(&map),
+		simulation: PhysicsState::default(),
+		recording: Recording {
+			instructions: Vec::new(),
+		},
+	};
+
+	let mut time = PhysicsTime::ZERO;
+
+	// reset to start zone
+	session.run(time, PhysicsInputInstruction::Mode(ModeInstruction::Reset));
+	// session.run(
+	// 	time,
+	// 	PhysicsInputInstruction::Misc(MiscInstruction::SetSensitivity(?)),
+	// );
+	session.run(
+		time,
+		PhysicsInputInstruction::Mode(ModeInstruction::Restart(
+			strafesnet_common::gameplay_modes::ModeId::MAIN,
+		)),
+	);
+
+	// TEMP: turn mouse left
+	let mut mouse_pos = glam::ivec2(-5300, 0);
+
+	const STEP: PhysicsTime = PhysicsTime::from_millis(10);
+	let mut input_floats = Vec::new();
 	// setup agent-simulation feedback loop
-	// go!
+	for _ in 0..20 * 100 {
+		// generate inputs
+		let frame_state = session.get_frame_state();
+		g.generate_inputs(
+			frame_state.pos(time) - start_offset,
+			frame_state.angles(),
+			&mut input_floats,
+		);
+
+		// inference
+		let inputs = Tensor::from_data(
+			TensorData::new(input_floats.clone(), Shape::new([1, INPUT])),
+			&device,
+		);
+		let outputs = model.forward(inputs).into_data().into_vec::<f32>().unwrap();
+
+		let &[
+			move_forward,
+			move_left,
+			move_back,
+			move_right,
+			jump,
+			mouse_dx,
+			mouse_dy,
+		] = outputs.as_slice()
+		else {
+			panic!()
+		};
+
+		macro_rules! set_control {
+			($control:ident,$output:expr) => {
+				session.run(
+					time,
+					PhysicsInputInstruction::SetControl(SetControlInstruction::$control(
+						0.5 < $output,
+					)),
+				);
+			};
+		}
+		set_control!(SetMoveForward, move_forward);
+		set_control!(SetMoveLeft, move_left);
+		set_control!(SetMoveBack, move_back);
+		set_control!(SetMoveRight, move_right);
+		set_control!(SetJump, jump);
+
+		mouse_pos += glam::vec2(mouse_dx, mouse_dy).round().as_ivec2();
+		let next_time = time + STEP;
+		session.run(
+			time,
+			PhysicsInputInstruction::Mouse(MouseInstruction::SetNextMouse(MouseState {
+				pos: mouse_pos,
+				time: next_time,
+			})),
+		);
+
+		time = next_time;
+
+		// clear
+		input_floats.clear();
+	}
+
+	let date_string = format!("{}.snfb", chrono::Utc::now());
+	let file = std::fs::File::create(date_string).unwrap();
+	strafesnet_snf::bot::write_bot(
+		std::io::BufWriter::new(file),
+		strafesnet_physics::VERSION.get(),
+		core::mem::take(&mut session.recording.instructions),
+	)
+	.unwrap();
 }
 
 fn main() {
-	training();
+	// training();
+	inference();
 }