more modularity! MOREEEE

.cargo/config.toml

@@ -2,6 +2,7 @@
 # linker = "clang"
 # rustflags = ["-Clink-arg=-fuse-ld=lld", "-Zshare-generics=y"]
 # runner = ".cargo/codelldb.sh"
+# rustflags = ["-Zsanitizer=thread"]
 
 [target.x86_64-pc-windows-msvc]
 linker = "rust-lld.exe"

Cargo.toml

@@ -29,9 +29,9 @@ crossbeam-channel = "0.5.8"
 tokio = { version = "1.32.0", features = ["sync"] }
 futures-lite = "1.13.0"
 bevy_framepace = "0.13.3"
-
-[profile.dev.package."*"]
-opt-level = 3
+derive_more = "0.99.17"
+# [profile.dev.package."*"]
+# opt-level = 3
 
 [profile.release]
 debug = true

src/brains/replay_buffer.rs

@@ -1,5 +1,6 @@
 use std::collections::VecDeque;
 
+use bevy::prelude::Component;
 use burn_tch::TchBackend;
 
 use crate::{
@@ -62,6 +63,7 @@ pub struct PpoMetadata {
     pub hiddens: Option<HiddenStates<TchBackend<f32>>>,
 }
 
+#[derive(Component)]
 pub struct PpoBuffer<E: Env> {
     pub obs: VecDeque<FrameStack<E::Observation>>,
     pub action: VecDeque<E::Action>,
@@ -133,18 +135,20 @@ where
             terminal,
         } = step;
 
-        self.obs.push_back(obs);
-        self.action.push_back(action);
-        self.reward.push_back(reward);
-        self.terminal.push_back(terminal);
-        self.advantage.push_back(None);
-        self.returns.push_back(None);
-
-        self.current_trajectory_start += 1;
-        if let Some(max_len) = max_len {
-            if self.current_trajectory_start >= max_len {
-                self.current_trajectory_start = max_len;
-                self.finish_trajectory(); // in case one of them is an ABSOLUTE GAMER and doesn't die for like 100_000 frames
+        if action.metadata().hiddens.is_some() {
+            self.obs.push_back(obs);
+            self.action.push_back(action);
+            self.reward.push_back(reward);
+            self.terminal.push_back(terminal);
+            self.advantage.push_back(None);
+            self.returns.push_back(None);
+
+            self.current_trajectory_start += 1;
+            if let Some(max_len) = max_len {
+                if self.current_trajectory_start >= max_len {
+                    self.current_trajectory_start = max_len;
+                    self.finish_trajectory(); // in case one of them is an ABSOLUTE GAMER and doesn't die for like 100_000 frames
+                }
             }
         }
     }

src/brains/thinkers/mod.rs

@@ -27,9 +27,9 @@ impl Status for () {
 }
 
 pub trait Thinker<E: Env> {
-    type Metadata: Clone;
-    type Status: Status + Clone + Default;
-    type ActionMetadata: Clone + Default;
+    type Metadata: Clone + Send + Sync;
+    type Status: Status + Clone + Default + Send + Sync;
+    type ActionMetadata: Clone + Default + Send + Sync;
     fn act(
         &mut self,
         obs: &FrameStack<E::Observation>,