ai-creature / index.html

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	<!DOCTYPE html>
	<html>
	<head>
	<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />

	<title>The AI Creature</title>

	<!-- Babylon.js -->
	<script src="https://cdnjs.cloudflare.com/ajax/libs/dat-gui/0.6.2/dat.gui.min.js"></script>
	<script src="https://preview.babylonjs.com/ammo.js"></script>
	<script src="https://preview.babylonjs.com/cannon.js"></script>
	<script src="https://preview.babylonjs.com/Oimo.js"></script>
	<script src="https://preview.babylonjs.com/earcut.min.js"></script>
	<script src="https://preview.babylonjs.com/babylon.js"></script>
	<script src="https://preview.babylonjs.com/materialsLibrary/babylonjs.materials.min.js"></script>
	<script src="https://preview.babylonjs.com/proceduralTexturesLibrary/babylonjs.proceduralTextures.min.js"></script>
	<script src="https://preview.babylonjs.com/postProcessesLibrary/babylonjs.postProcess.min.js"></script>
	<script src="https://preview.babylonjs.com/loaders/babylonjs.loaders.js"></script>
	<script src="https://preview.babylonjs.com/serializers/babylonjs.serializers.min.js"></script>
	<script src="https://preview.babylonjs.com/gui/babylon.gui.min.js"></script>
	<script src="https://preview.babylonjs.com/inspector/babylon.inspector.bundle.js"></script>

	<!-- tf.js -->
	<script src="https://cdn.jsdelivr.net/npm/@tensorflow/[email protected]/dist/tf.min.js"></script>

	<script src="agent_sac.js"></script>

	<style>
	html, body {
	overflow: hidden;
	width: 100%;
	height: 100%;
	margin: 0;
	padding: 0;
	}

	#renderCanvas {
	width: 100%;
	height: 100%;
	touch-action: none;
	}

	#testCanvas0 {
	position:absolute;
	width: 128px;
	height: 128px;
	right:600px;
	bottom: 0;
	}

	#testCanvas1 {
	position:absolute;
	width: 128px;
	height: 128px;
	right:450px;
	bottom: 0;
	}

	#testCanvas2 {
	position:absolute;
	width: 128px;
	height: 128px;
	right: 300px;
	bottom: 0;
	}

	#testCanvas3 {
	position: absolute;
	width: 128px;
	height: 128px;
	right: 150px;
	bottom: 0;
	}

	#testCanvas4 {
	position: absolute;
	width: 128px;
	height: 128px;
	right: 0px;
	bottom: 0;
	}


	/* #votes {
	position: absolute;
	border: 1px solid black;
	bottom: 200px;
	right: 0px;

	width: 100px;
	height: 150px;
	} */

	.vote {
	position: absolute;
	width: 60px;
	height: 60px;
	right: 10px;
	}

	.vote:hover {
	cursor: pointer;
	}

	#like {
	bottom: 200px;
	}

	#dislike {
	bottom: 120px;
	-webkit-transform: scaleX(-1);
	transform: scaleX(-1);
	}
	</style>
	</head>
	<body>
	<canvas id="renderCanvas"></canvas>
	<canvas id="testCanvas0"></canvas>
	<canvas id="testCanvas1"></canvas>
	<canvas id="testCanvas2"></canvas>
	<canvas id="testCanvas3"></canvas>
	<canvas id="testCanvas4"></canvas>

	<!-- <div id="votes"> -->
	<div class="vote" id="like">
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	</div>
	<div class="vote" id="dislike">
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	</div>
	<!-- </div> -->

	<script>

	window.engine = null;
	window.scene = null;
	window.sceneToRender = null;

	const agent = new AgentSac({trainable: false, verbose: false})

	const canvas = document.getElementById("renderCanvas");
	const createDefaultEngine = () => new BABYLON.Engine(canvas, true, {
	preserveDrawingBuffer: true,
	stencil: true,
	disableWebGL2Support: false
	})

	window.vote = 0
	document.getElementById("like").addEventListener("click", () => {
	// if (!transitions.length) return

	window.reward = 1
	// transitions[transitions.length - 1].reward += reward
	// globalReward += reward
	// console.log('reward like: ', transitions[transitions.length - 1].reward, globalReward)
	})

	document.getElementById("dislike").addEventListener("click", () => {
	// if (!transitions.length) return

	window.reward = -1
	// transitions[transitions.length - 1].reward += reward
	// globalReward += reward
	// console.log('reward dislike: ', transitions[transitions.length - 1].reward, globalReward)
	})

	window.transitions = []
	window.globalReward = 0
	const BINOCULAR = true

	const createScene = async () => {
	await agent.init()



	// This creates a basic Babylon Scene object (non-mesh)
	const scene = new BABYLON.Scene(engine);
	scene.collisionsEnabled = true

	// Environment
	const hdrTexture = BABYLON.CubeTexture.CreateFromPrefilteredData("3d/env/environment.dds", scene);
	hdrTexture.name = "envTex";
	hdrTexture.gammaSpace = false;
	scene.environmentTexture = hdrTexture;

	const skybox = BABYLON.MeshBuilder.CreateBox("skyBox", {size:1000.0}, scene);
	const skyboxMaterial = new BABYLON.StandardMaterial("skyBox", scene);
	skyboxMaterial.backFaceCulling = false;
	skyboxMaterial.reflectionTexture = new BABYLON.CubeTexture("3d/env/skybox", scene);
	skyboxMaterial.reflectionTexture.coordinatesMode = BABYLON.Texture.SKYBOX_MODE;
	skyboxMaterial.diffuseColor = new BABYLON.Color3(0, 0, 0);
	skyboxMaterial.specularColor = new BABYLON.Color3(0, 0, 0);
	skybox.material = skyboxMaterial;

	//CAMERA
	const camera = new BABYLON.ArcRotateCamera("Camera", BABYLON.Tools.ToRadians(-120), BABYLON.Tools.ToRadians(80), 65, new BABYLON.Vector3(0, -15, 0), scene);
	camera.attachControl(canvas, true);
	camera.lowerRadiusLimit = 10;
	camera.upperRadiusLimit = 120;
	camera.collisionRadius = new BABYLON.Vector3(2, 2, 2);
	camera.checkCollisions = true;

	//enable Physics in the scene vector = gravity
	scene.enablePhysics(new BABYLON.Vector3(0, 0, 0), new BABYLON.AmmoJSPlugin(false));

	const physicsEngine = scene.getPhysicsEngine()
	// physicsEngine.setSubTimeStep(physicsEngine.getTimeStep()/3 * 1000)
	physicsEngine.setTimeStep(1 / 60)
	physicsEngine.setSubTimeStep(1)

	//LIGHTS
	const light1 = new BABYLON.PointLight("light1", new BABYLON.Vector3(0, 5,-6), scene);
	const light2 = new BABYLON.PointLight("light2", new BABYLON.Vector3(6, 5, 3.5), scene);
	const light3 = new BABYLON.DirectionalLight("light3", new BABYLON.Vector3(20, -5, 20), scene);
	light1.intensity = 15;
	light2.intensity = 5;

	engine.displayLoadingUI();

	await Promise.all([
	BABYLON.SceneLoader.AppendAsync("3d/marbleTower.glb"),
	BABYLON.SceneLoader.AppendAsync("https://models.babylonjs.com/Marble/marble/marble.gltf")
	])
	scene.getMeshByName("marble").isVisible = false

	const tower = scene.getMeshByName("tower");
	tower.setParent(null)
	tower.checkCollisions = true;
	tower.impostor = new BABYLON.PhysicsImpostor(tower, BABYLON.PhysicsImpostor.MeshImpostor, {
	mass: 0,
	friction: 1
	}, scene);
	tower.material = scene.getMaterialByName("stone")
	tower.material.backFaceCulling = false


	/* CREATURE */
	const creature = BABYLON.MeshBuilder.CreateSphere("creature", {diameter: 1, segments:32}, scene)
	creature.parent = null
	creature.setParent(null)
	creature.position = new BABYLON.Vector3(0,-5,0)

	creature.isPickable = false

	const crMat = new BABYLON.StandardMaterial("cr_mat", scene);
	crMat.alpha = 0 // for screenshots
	creature.material = crMat

	creature.impostor = new BABYLON.PhysicsImpostor(creature, BABYLON.PhysicsImpostor.SphereImpostor, {
	mass: 1,
	friction: 0,
	stiffness: 0,
	restitution: 0
	}, scene)

	BABYLON.ParticleHelper.SnippetUrl = "3d/snippet";
	// Sparks
	creature.sparks = await BABYLON.ParticleHelper.CreateFromSnippetAsync("UY098C-3.json", scene, false);
	creature.sparks.emitter = creature;
	// Core
	creature.glow = await BABYLON.ParticleHelper.CreateFromSnippetAsync("EXUQ7M-5.json", scene, false);
	creature.glow.emitter = creature;

	/* CREATURE's CAMERA */
	const crCameraLeft = new BABYLON.UniversalCamera("cr_camera_l", new BABYLON.Vector3(0, 0, 0), scene)
	crCameraLeft.parent = creature
	crCameraLeft.position = new BABYLON.Vector3(-0.5, 0, 0)//new BABYLON.Vector3(0, 5, -10)
	crCameraLeft.fov = 2
	crCameraLeft.setTarget(new BABYLON.Vector3(-1, 0, 0.6))

	const crCameraRight = new BABYLON.UniversalCamera("cr_camera_r", new BABYLON.Vector3(0, 0, 0), scene)
	crCameraRight.parent = creature
	crCameraRight.position = new BABYLON.Vector3(0.5, 0, 0)//new BABYLON.Vector3(0, 5, -10)
	crCameraRight.fov = 2
	crCameraRight.setTarget(new BABYLON.Vector3(1, 0, 0.6))



	const crCameraLeftPl = BABYLON.MeshBuilder.CreateSphere("crCameraLeftPl", {diameter: 0.1, segments: 32}, scene);
	crCameraLeftPl.parent = creature
	crCameraLeftPl.position = new BABYLON.Vector3(-0.5, 0, 0)
	const crCameraLeftPlclMat = new BABYLON.StandardMaterial("crCameraLeftPlclMat", scene)
	crCameraLeftPlclMat.alpha = 0.3 // for screenshots
	crCameraLeftPlclMat.diffuseColor = new BABYLON.Color3(0, 0, 0)
	crCameraLeftPl.material = crCameraLeftPlclMat

	const crCameraRightPl = BABYLON.MeshBuilder.CreateSphere("crCameraRightPl", {diameter: 0.1, segments: 32}, scene);
	crCameraRightPl.parent = creature
	crCameraRightPl.position = new BABYLON.Vector3(0.5, 0, 0)
	const crCameraRightPlclMat = new BABYLON.StandardMaterial("crCameraRightPlclMat", scene)
	crCameraRightPlclMat.alpha = 0.3 // for screenshots
	crCameraRightPlclMat.diffuseColor = new BABYLON.Color3(0, 0, 0)
	crCameraRightPl.material = crCameraRightPlclMat


	// crCameraLeft.rotation = new BABYLON.Vector3(0, -(Math.PI - 0.3), 0)
	// crCameraLeft.fovMode = BABYLON.Camera.PERSPECTIVE_CAMERA;
	// crCameraRight.rotation = new BABYLON.Vector3(0, +(Math.PI - 0.3), 0)
	// crCameraRight.fovMode = BABYLON.Camera.FOVMODE_HORIZONTAL_FIXED;

	// crCameraRight.checkCollisions = true;
	// crCamera.rotation = (new BABYLON.Vector3(0.5, 0, 0))
	// crCamera.ellipsoid = new BABYLON.Vector3(1, 1, 1);
	// crCamera.ellipsoidOffset = new BABYLON.Vector3(3, 3, 3);
	// creature.checkCollisions = true;
	// scene.collisionsEnabled = true;
	// crCamera.applyGravity = true;

	// crCamera.fovMode = BABYLON.Camera.PERSPECTIVE_CAMERA;
	// crCamera.fovMode = BABYLON.Camera.FOVMODE_HORIZONTAL_FIXED;
	// crCamera.inertia = 2
	// crCamera.setTarget(new BABYLON.Vector3(2, 0, 0))
	// const crCameraMesh = BABYLON.MeshBuilder.CreateSphere("cr_camera_mesh", {diameter: 1, segments: 32}, scene);
	// crCameraMesh.parent = crCamera
	// crCameraMesh.isVisible = 1


	/* CLIENT */
	const client = BABYLON.MeshBuilder.CreateSphere("client", {diameter: 3, segments: 32}, scene);
	client.parent = camera
	client.setParent(camera)
	// client.position = new BABYLON.Vector3(0, -12,0)

	const clMat = new BABYLON.StandardMaterial("cl_mat", scene)
	clMat.diffuseColor = new BABYLON.Color3(0, 0, 0)
	client.material = clMat

	engine.hideLoadingUI();

	/* CAGE */
	const cage = BABYLON.MeshBuilder.CreateSphere("cage", {
	segements: 64,
	diameter: 50
	}, scene)

	// const cage = BABYLON.MeshBuilder.CreateBox("cage", {
	// width: 100,
	// depth: 100,
	// height: 40
	// }, scene)
	cage.parent = null
	cage.setParent(null)
	cage.position = new BABYLON.Vector3(0, -12,0)
	cage.isPickable = true

	const cageMat = new BABYLON.StandardMaterial("cage_mat", scene);
	cageMat.alpha = 0.1 // for ray hit
	cage.material = cageMat
	cage.material.backFaceCulling = false

	cage.impostor = new BABYLON.PhysicsImpostor(cage, BABYLON.PhysicsImpostor.MeshImpostor, {
	mass: 0,
	friction: 1
	}, scene);



	/* MIRROR */
	/* const mirror = BABYLON.MeshBuilder.CreateBox("mirror", {
	width: 10,
	depth: 0.1,
	height: 5
	}, scene)
	mirror.material = new BABYLON.StandardMaterial("mirror_mat", scene)
	mirror.position = new BABYLON.Vector3(20, 0, 0)
	// mirror.addRotation(0, Math.PI/2, 0)
	mirror.isVisible = true
	// How to use: mirror.material.diffuseTexture = new BABYLON.Texture(base64Data, scene) // timer ~1ms
	*/

	// const [ballRed, ballGreen, ballBlue, ballPurple, ballYellow] = ['red', 'green', 'blue', 'purple', 'yellow'].map(color => {

	const ballPos = [[-10,-10,10], [10,-10,-10], [-10,-10,-10], [10,-10,10]]
	// const balls = ['red', 'green', 'blue', 'purple'].map((color, i) => {
	const balls = ['green', 'green', 'red', 'red'].map((color, i) => {
	const ball = BABYLON.MeshBuilder.CreateSphere("ball_"+ color + i, {diameter: 7, segments: 64}, scene)
	ball.position = new BABYLON.Vector3(...ballPos[i])
	ball.parent = null
	ball.setParent(null)
	ball.isPickable = true
	ball.impostor = new BABYLON.PhysicsImpostor(ball, BABYLON.PhysicsImpostor.SphereImpostor, {
	mass: 7,
	friction: 1,
	stiffness: 1,
	restitution: 1
	}, scene);
	ball.material = scene.getMaterialByName(color + "Mat")
	ball.checkCollisions = true
	ball.material.backFaceCulling = false

	return ball
	})

	// balls[0].position = new BABYLON.Vector3(10, 0, 0)

	/* SHuffle */
	// scene.onPointerDown = function(evt, pickInfo) {
	// if(pickInfo.hit && pickInfo.pickedMesh.id.startsWith('cage')) {
	// const getRand = () => new BABYLON.Vector3(Math.random()/10 - 0.1, Math.random()/10 - 0.1, Math.random()/10 - 0.1)

	// balls.forEach(ball => ball.impostor.applyImpulse(getRand(), BABYLON.Vector3.Zero()))
	// }
	// }

	// setInterval(()=>{
	// const getRand = () => new BABYLON.Vector3(Math.random()/10 - 0.1, Math.random()/10 - 0.1, Math.random()/10 - 0.1)

	// balls.forEach(ball => ball.impostor.applyImpulse(getRand(), BABYLON.Vector3.Zero()))
	// }, 1000)


	// ballRed.impostor.applyImpulse(new BABYLON.Vector3(0, -20, 0), BABYLON.Vector3.Zero())
	// ballGr.impostor.applyImpulse(new BABYLON.Vector3(0, -20, 0), BABYLON.Vector3.Zero())


	/* WORKER */
	const worker = new Worker('worker.js')
	let inited = false
	worker.addEventListener('message', e => {
	const { weights, frame } = e.data

	tf.tidy(() => {
	if (weights) {
	inited = true
	agent.actor.setWeights(weights.map(w => tf.tensor(w))) // timer ~30ms
	if (Math.random() > 0.99) console.log('weights:', weights)
	}

	})
	})

	/* COLLISIONS DETECTION */
	const impostors = scene.getPhysicsEngine()._impostors.filter(im => im.object.id !== creature.id)
	creature.impostor.registerOnPhysicsCollide(impostors, (body1, body2) => {})
	impostors.forEach(impostor => {
	impostor.onCollide = e => {
	if (window.onCollide) {
	const collision = e.point.subtract(creature.position).normalize()
	window.onCollide(collision, impostor.object.id)
	}
	}
	})

	// ;(() => {
	// let coll
	// creature.impostor.onCollide = e => {
	// coll = e.point.subtract(creature.position).normalize()
	// console.log('crea', coll)
	// if (window.onCollide)
	// window.onCollide(coll)
	// }

	// balls.forEach(ball => {
	// ball.impostor.onCollide = e => {
	// const collision = e.point.subtract(creature.position).normalize()
	// console.log('crea ball', coll, collision)

	// if (window.onCollide)
	// window.onCollide(collision, ball.id)

	// // if (ball.id.endsWith('_red'))
	// console.log('onCollide mesh:', ball.id)
	// }
	// })
	// })()



	const base64ToImg = (base64) => new Promise((res, _) => {
	const img = new Image()
	img.src = base64
	img.onload = () => res(img)
	})
	const TRANSITIONS_BUFFER_SIZE = 2
	const frameEvery = 1000/30 // ~33ms ~24frames/sec
	const frameStack = []
	// const transitions = []

	// let start = Date.now() + frameEvery
	let timer = Date.now()
	let busy = false
	let stateId = 0

	let prevLinearVelocity = BABYLON.Vector3.Zero()
	window.collision = BABYLON.Vector3.Zero()
	window.reward = 0
	window.globalReward = 0
	// let collisionMesh = null

	const testLayer = agent.actor.layers[4]
	const spy = tf.model({inputs: agent.actor.inputs, outputs: testLayer.output})

	scene.registerAfterRender(async () => { // timer ~ 20-90ms
	if (/Date.now() < start \|\| /busy \|\| !inited) return

	// const delta = (Date.now() - timestamp) / 1000 // sec
	// timestamp = Date.now()
	// start = Date.now() + frameEvery
	busy = true

	// const timerLbl = 'TimerLabel-' + start

	/*
	console.time(timerLbl)
	console.timeEnd(timerLbl)
	console.log('numTensors BEFORE: ' + tf.memory().numTensors)
	console.log('numTensors AFTER: ' + tf.memory().numTensors)
	*/







	// const screenShots = []
	// screenShots.push(
	// BABYLON.Tools.CreateScreenshotUsingRenderTargetAsync(engine, crCameraLeft, { // ~ 7-60ms
	// height: agent._frameShape[0],
	// width: agent._frameShape[1]
	// })
	// )
	// screenShots.push(
	// BABYLON.Tools.CreateScreenshotUsingRenderTargetAsync(engine, crCameraRight, { // ~ 7-60ms
	// height: agent._frameShape[0],
	// width: agent._frameShape[1]
	// })
	// )
	// const base64Data = await Promise.all(screenShots)
	// frameStack.push(base64Data)




	//delay
	if (!frameStack.length) {
	frameStack.push([
	await BABYLON.Tools.CreateScreenshotUsingRenderTargetAsync(engine, crCameraLeft, { // ~ 7-60ms
	height: agent._frameShape[0],
	width: agent._frameShape[1]
	})
	])
	} else {
	frameStack[0].push(
	await BABYLON.Tools.CreateScreenshotUsingRenderTargetAsync(engine, crCameraRight, { // ~ 7-60ms
	height: agent._frameShape[0],
	width: agent._frameShape[1]
	})
	)
	}




	if (frameStack.length >= agent._nFrames && frameStack[0].length == 2) { // ~20ms
	if (frameStack.length > agent._nFrames)
	throw new Error("(⊙＿⊙')")

	const imgs = await Promise.all(frameStack.flat().map(fr => base64ToImg(fr)))

	const framesNorm = tf.tidy(() => {
	const greyScaler = tf.tensor([0.299, 0.587, 0.114], [1, 1, 3])
	let imgTensors = imgs.map(img => tf.browser.fromPixels(img)
	//.mul(greyScaler).sum(-1, true)
	)

	// optic chiasma
	// imgTensors = imgTensors.map(img => tf.split(img, 2, 1))
	// for (let i = 0; i < imgTensors.length; i = i + 2) {
	// const first = tf.concat([imgTensors[i][0], imgTensors[i+1][0]], -1)
	// const second = tf.concat([imgTensors[i][1], imgTensors[i+1][1]], -1)
	// imgTensors[i] = first
	// imgTensors[i+1] = second
	// }

	// imgTensors = [
	// imgTensors[0].concat(imgTensors[1], 1),
	// //imgTensors[2].concat(imgTensors[3], 1)
	// ]


	// if (collisionMesh) {
	imgTensors = imgTensors.map((t, i) => {
	const canv = document.getElementById('testCanvas' + (i+3))
	if (canv) {
	tf.browser.toPixels(t, canv) // timer ~1ms
	}
	return t
	.sub(255/2)
	.div(255/2)
	})
	// }

	const resL = tf.concat(imgTensors.filter((el, i) => i%2==0), -1)
	const resR = tf.concat(imgTensors.filter((el, i) => i%2==1), -1)
	return [resL, resR]

	// return [tf.concat(imgTensors, -1)]

	// let frTest = tf.unstack(res, -1)
	// // frTest = [tf.concat(frTest.slice(0,3), -1), tf.concat(frTest.slice(3), -1)]
	// console.log(frTest[0].arraySync()[30][0][0], frTest[3].arraySync()[30][0][0])

	// console.log(tf.concat(tf.unstack(tf.concat(imgTensors, 2), -1), -1).arraySync()[30][0][0])

	})
	const framesBatch = framesNorm.map(fr => tf.stack([fr]))

	const delta = (Date.now() - timer) / 1000 // sec
	console.log('delta (s)', delta)
	const linearVelocity = creature.impostor.getLinearVelocity()
	const linearVelocityNorm = linearVelocity.normalize()
	const acceleration = linearVelocity.subtract(prevLinearVelocity).scale(1/delta).normalize()

	timer = Date.now()
	prevLinearVelocity = linearVelocity

	const ray = new BABYLON.Ray(creature.position, linearVelocityNorm)
	const hit = scene.pickWithRay(ray)
	let lidar = 0
	if (hit.pickedMesh) {
	lidar = Math.tanh((hit.distance - creature.impostor.getRadius())/10) // stretch tanh by 10 for precision
	// console.log('Hit: ', hit.pickedMesh.name, hit.distance, lidar, linearVelocity, collision)
	}

	const telemetry = [
	linearVelocityNorm.x,
	linearVelocityNorm.y,
	linearVelocityNorm.z,
	acceleration.x,
	acceleration.y,
	acceleration.z,
	window.collision.x,
	window.collision.y,
	window.collision.z,
	lidar
	]
	const reward = window.reward

	//collisionMesh &&
	// if (collisionMesh && transitions.length) {
	// tf.tidy(() => {
	// let frTest = tf.unstack(tf.tensor(transitions[transitions.length - 1].state[1], [64,128, agent._nFrames]), -1)
	// // frTest = [tf.stack(frTest.slice(0,3), -1), tf.stack(frTest.slice(3), -1)]
	// let i = 0
	// for (const fr of frTest) {
	// i++
	// tf.browser.toPixels(fr, document.getElementById('testCanvas' + i)) // timer ~1ms
	// }
	// })
	// }

	window.collision = BABYLON.Vector3.Zero() // reset collision point
	window.reward = -0.01
	window.onCollide = undefined
	const telemetryBatch = tf.tensor(telemetry, [1, agent._nTelemetry])
	const action = agent.sampleAction([telemetryBatch, ...framesBatch]) // timer ~5ms


	// TODO: !!!!!await find the way to avoid framesNorm.array()
	console.time('await')
	const [framesArrL, framesArrR,[actionArr]] = await Promise.all([...(framesNorm.map(fr => fr.array())), action.array()]) // action come as a batch of size 1
	console.timeEnd('await')
	// DEBUG Conv encoder
	tf.tidy(() => { // timer ~2.5ms
	const testOutput = spy.predict([telemetryBatch, ...framesBatch], {batchSize: 1})
	console.log('spy', testLayer.name, testOutput.arraySync())

	return

	let tiles = tf.clipByValue(tf.squeeze(testOutput), 0, 1)
	tiles = tf.transpose(tiles, [2,0,1])
	tiles = tf.unstack(tiles)

	let res = [], line = []
	for (const [i, tile] of tiles.entries()) {
	line.push(tile)
	if ((i+1) % 8 == 0 && i) {
	res.push(tf.concat(line, 1))
	line = []
	}
	}
	const testFr = tf.concat(res)
	tf.browser.toPixels(testFr, document.getElementById('testCanvas2')) // timer ~1ms
	})

	const
	impulse = actionArr.slice(0, 3)//.map(el => el/10)//, // [0,-1, 0], //
	// rotation = actionArr.slice(3, 7).map(el => el),
	// color = actionArr.slice(3, 6).map(el => el)/.map(el => el) // [-1,1] => [0,2] => [0, 255]
	// look = actionArr.slice(3, 6)

	// console.log('tel tel: ', telemetry.map(t=> t.toFixed(3)))
	// console.log('tel imp:', impulse.map(t=> t.toFixed(3)))

	console.assert(actionArr.length === 3, actionArr.length)
	console.assert(impulse.length === 3)
	// console.assert(look.length === 3)
	// console.assert(rotation.length === 4)
	// console.assert(color.length === 3)

	// [0,-1,0]
	creature.impostor.setAngularVelocity(BABYLON.Quaternion.Zero()) // just in case, probably redundant
	// creature.impostor.setLinearVelocity(BABYLON.Vector3.Zero()) // contact point zero
	creature.impostor.applyImpulse(new BABYLON.Vector3(...impulse), creature.getAbsolutePosition()) // contact point zero
	creature.impostor.setAngularVelocity(BABYLON.Quaternion.Zero())
	// creature.glow.color2 = new BABYLON.Color4(...color)

	// after applyImpulse the linear velocity is recalculated right away
	const newLinearVelocity = creature.impostor.getLinearVelocity().normalize()
	// creature.lookAt(new BABYLON.Vector3(0, -1, 0), 0, 0, 0, BABYLON.Space.LOCAL)
	creature.lookAt(creature.position.add(newLinearVelocity))
	//if (!window.rr) window.rr =
	// creature.lookAt(creature.position.add(new BABYLON.Vector3(0,1,0)))

	const transtion = {
	id: stateId++,
	state: [telemetry, framesArrL, framesArrR], // 20ms vs 50ms \|\| size 200kb vs 1.5mb
	action: actionArr,
	reward
	}
	transitions.push(transtion)

	window.onCollide = (collision, mesh) => {
	window.collision = collision
	window.reward += -0.05

	if (mesh.startsWith('ball_')) {
	console.log('reward', mesh)
	window.reward = 1

	if (mesh.includes('red'))
	window.reward = -1
	}

	window.onCollide = undefined
	}

	if (transitions.length >= TRANSITIONS_BUFFER_SIZE) {
	if (transitions.length > TRANSITIONS_BUFFER_SIZE \|\| TRANSITIONS_BUFFER_SIZE < 2)
	throw new Error("(⊙＿⊙')")

	const transition = transitions.shift()

	// if (transition.reward > 0) {
	// transition.priority = 7
	// console.log('reward prio:', transition, transition.state[0])
	// }
	window.globalReward += transition.reward
	console.log('reward', transition.reward, window.globalReward)


	worker.postMessage({action: 'newTransition', transition}) // timer ~ 6ms

	}

	// imgTensors.forEach(t => t.dispose())
	// frames.dispose()
	framesNorm.map(fr => fr.dispose())
	framesBatch.map(fr => fr.dispose())
	telemetryBatch.dispose()
	action.dispose()

	// if (stateId%1 == 0)
	// frameStack.forEach((base64Data, i) => {
	// const img = new Image()
	// img.onload = () => document.getElementById('testCanvas' + (i+2))
	// .getContext('2d')
	// .drawImage(img, 0, 0, 256, 128)
	// img.src = base64Data
	// })

	frameStack.length = 0 // I will regret about this :D
	}

	//mirror.material.diffuseTexture = new BABYLON.Texture(base64Data, scene) // timer ~1ms

	// const img = await base64ToImg(base64Data) // timer ~2-12ms
	// const tensor = tf.browser.fromPixels(img) // timer ~ 1ms
	// const arr = await tensor.array() // timer ~ 6-15ms
	// worker.postMessage(arr) // timer ~ 6ms
	// tensor.dispose()

	busy = false
	})

	return scene
	};

	window.initFunction = async function() {
	await Ammo();

	const asyncEngineCreation = async function() {
	try {
	return createDefaultEngine();
	} catch(e) {
	console.log("the available createEngine function failed. Creating the default engine instead");
	return createDefaultEngine();
	}
	}

	window.engine = await asyncEngineCreation();

	if (!engine) throw 'engine should not be null.';

	window.scene = await createScene();
	};

	initFunction().then(() => {
	sceneToRender = scene;
	engine.runRenderLoop(function () {
	if (sceneToRender && sceneToRender.activeCamera) {
	sceneToRender.render();
	}
	});
	});

	window.addEventListener("resize", function () {
	engine.resize();
	});
	</script>
	</body>
	</html>