Cleanup and switch to rl manager

Author: CarlCochet

integrations/Godot/simulate_godot/Simulate/Commands/close.gd

@@ -1,4 +1,3 @@
-class_name Close
 extends Node
 # Close the simulation
 

integrations/Godot/simulate_godot/Simulate/Commands/initialize.gd

@@ -1,4 +1,3 @@
-class_name Initialize
 extends Node
 # Build the scene and sets global simulation metadata
 

integrations/Godot/simulate_godot/Simulate/GLTF/hf_actuator.gd

@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFActuator
+extends Node3D
 
 
 var action_mapping: ActionMapping
@@ -20,7 +20,6 @@ func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
 
 	if json.has("extras"):
 		is_actor = json["extras"].get("is_actor", false)
-		print(is_actor)
 
 	position = Vector3(
 		json["translation"][0], 

integrations/Godot/simulate_godot/Simulate/GLTF/hf_articulation_body.gd

@@ -1,5 +1,5 @@
-extends Generic6DOFJoint3D
 class_name HFArticulationBody
+extends Generic6DOFJoint3D
 
 
 var joint_type: String = ""
@@ -20,6 +20,7 @@ var upper_limit: float = 0.0
 var lower_limit: float = 0.0
 var mass: float = 1.0
 var center_of_mass: Vector3 = Vector3.ZERO
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):

integrations/Godot/simulate_godot/Simulate/GLTF/hf_collider.gd

@@ -1,5 +1,5 @@
-extends StaticBody3D
 class_name HFCollider
+extends StaticBody3D
 
 
 var type: GLTFEnums.ColliderType = GLTFEnums.ColliderType.box
@@ -8,6 +8,7 @@ var offset: Vector3 = Vector3.ZERO
 var intangible: bool = false
 var convex: bool = false
 var physic_material: HFPhysicMaterial
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):

integrations/Godot/simulate_godot/Simulate/GLTF/hf_extensions.gd

@@ -1,35 +1,32 @@
-extends GLTFDocumentExtension
 class_name HFExtensions
+extends GLTFDocumentExtension
 
 
 func _import_node(state: GLTFState, _gltf_node: GLTFNode, json: Dictionary, node: Node):
 	var extensions = json.get("extensions")
 	if not json.has("extensions"):
 		return OK
 
+	var new_node
 	if extensions.has("HF_rigid_bodies"):
-		var rigid_body = HFRigidBody.new()
-		rigid_body.import(state, json, extensions)
-		node.replace_by(rigid_body)
+		new_node = HFRigidBody.new()
 	if extensions.has("HF_articulation_bodies"):
-		var articulation_body = HFArticulationBody.new()
-		articulation_body.import(state, json, extensions)
-		node.replace_by(articulation_body)
+		new_node = HFArticulationBody.new()
 	if extensions.has("HF_colliders"):
-		var collider = HFCollider.new()
-		collider.import(state, json, extensions)
-		node.replace_by(collider)
+		new_node = HFCollider.new()
 	if extensions.has("HF_raycast_sensors"):
-		var raycast_sensor = HFRaycastSensor.new()
-		raycast_sensor.import(state, json, extensions)
-		node.replace_by(raycast_sensor)
+		new_node = HFRaycastSensor.new()
 	if extensions.has("HF_reward_functions"):
-		var reward_function = HFRewardFunction.new()
-		reward_function.import(state, json, extensions)
-		node.replace_by(reward_function)
+		new_node = HFRewardFunction.new()
 	if extensions.has("HF_state_sensors"):
-		var state_sensor = HFStateSensor.new()
-		state_sensor.import(state, json, extensions)
-		node.replace_by(state_sensor)
+		new_node = HFStateSensor.new()
 
+	if new_node:
+		new_node.import(state, json, extensions)
+		if extensions.has("HF_actuators") and "actuator" in new_node:
+			new_node.actuator = HFActuator.new()
+			new_node.actuator.import(state, json, extensions)
+		node.replace_by(new_node)
+	else:
+		print("Extension not implemented.")
 	return OK

integrations/Godot/simulate_godot/Simulate/GLTF/hf_physic_material.gd

@@ -1,11 +1,12 @@
-extends PhysicsMaterial
 class_name HFPhysicMaterial
+extends PhysicsMaterial
 
 
 var material_name: String = ""
 var dynamic_friction: float = 0.6
 var friction_combine: GLTFEnums.PhysicMaterialCombine
 var bounce_combine: GLTFEnums.PhysicMaterialCombine
+var actuator: HFActuator
 
 
 func import(state: GLTFState, extensions: Dictionary, id: int):

integrations/Godot/simulate_godot/Simulate/GLTF/hf_raycast_sensor.gd

@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFRaycastSensor
+extends Node3D
 
 
 var n_horizontal_rays: int

integrations/Godot/simulate_godot/Simulate/GLTF/hf_reward_function.gd

@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFRewardFunction
+extends Node3D
 
 
 var type: String
@@ -12,6 +12,7 @@ var threshold: float
 var is_terminal: bool
 var is_collectable: bool
 var trigger_once: bool
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):

integrations/Godot/simulate_godot/Simulate/GLTF/hf_rigid_body.gd

@@ -1,14 +1,15 @@
-extends RigidBody3D
 class_name HFRigidBody
+extends RigidBody3D
 
 
 var constraints: Array
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
 	var rigid_body: Dictionary = state.json["extensions"]["HF_rigid_bodies"]["objects"][extensions["HF_rigid_bodies"]["object_id"]]
 	name = json["name"]
-	
+
 	var mesh = MeshInstance3D.new()
 	mesh.mesh = state.meshes[json["mesh"]].mesh.get_mesh()
 	mesh.name = json["name"] + "_mesh"