3D Environment (3DEnv)#

The 3D environment, found in the 3denv directory, provides a real-time visualization of the simulation. It can be run as a stand-alone component with keyboard input and without any other simulated vehicles besides the ego vehicle. Typically, though, the 3D environment will be connected to a physical bicycle using the Bicycle Interface and to the Ego Vehicle Interface (EVI) to allow for fellow traffic and vehicle-to-anything communication (V2X).


The 3D environment is built with the Godot 3D game engine. This project requires the .NET version of the game engine, which enables C# support. We recommend using the latest stable build of version 3.x of the engine.

For development, Godot can interface with several IDEs such as JetBrains Rider or Visual Studio Code.

Generating a Street Network from an Existing Scenario#

Open 3denv/ as a project in Godot. After that you can start the project by clicking the play button in the right corner of the screen or pressing the F5 key. To generate a street network from an existing scenario, find the button next to the label “Street Network File Location” in the on-screen menu. A window will pop up where you will be able to select your desired scenario. Existing scenarios can be found in the scenarios/ folder of the VCE.


Fig. 1 Godot screenshot: Opening the game menu.#

After selecting the scenario file (a SUMO .net.xml), press generate to create the 3D environment. After starting up EVI, you can also press the connect button to activate the connection between Godot and EVI.

Further important configuration items include:

Ego Vehicle Type:

The type of vehicle you want to control. Use Bicycle if you want to control a bicycle with keyboard controls through the 3D environment itself. Use Bicycle_Interface if you intend to connect to the 3D environment with an instance of the Bicycle Interface. Use Car if you wish to control a car with your keyboard.

Evi IP address:

Address of the Ego Vehicle Interface (EVI). Make sure to stick to the format your-evi-address. This setting can be changed after the street network is generated.

Evi Port:

Port number of the Evi connection with default value of 12346.

Procedural Objects Seed:

Seed used for the environment generation. Affects the height of the buildings.

Place Street Lights:

Toggle whether street lamps should be placed in the environment. Visual effect only.

Command Line Arguments#

The 3D Environment accepts the following command line arguments:


A SUMO .net.xml scneario to load on startup


An integer seed for the procedural generation of buildings, etc.




Address (usually IP) of the Ego Vehicle Interface


Port of the Ego Vehicle Interface


Connect to EVI immediately


Don’t show menu on launch


In this case, it is required to seperate key-value pairs with an equal sign!




--scenario /path/to/scenario.net.xml

Furthermore, every argument must be a key value pair!





Exporting the 3D Environment#

In Godot’s menu bar, click “Project”, then “Export…”, and select an export preset. An export preset for “Linux/X11” is already included in the VCE repository and should appear as a selectable item. By default, this will export your project to 3denv/build/ and create an executable file 3denv.x86_64.

In case you have not yet run one of the vce-install scripts or if your version of Godot has changed in the meantime, Godot will likely prompt you to download export templates for its respective version. In this case, simply follow the instructions and repeat.

As an alternative to the graphical user interface of the Godot Editor, you can also use the command line for exporting the 3D Environment:

godot --export "Linux/X11" "build/3denv.x86_64" "3denv/project.godot"

Here we assume that “Linux/X11” is a valid preset in 3denv/export_presets.cfg and that the export presets for the respective version of Godot are already installed. The vce-install* scripts in the scripts/ directory already take care of this.