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extends AIController3D |
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func _physics_process(_delta): |
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n_steps += 1 |
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if n_steps >= reset_after: |
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done = true |
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needs_reset = true |
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if needs_reset: |
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_player.game_over() |
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func get_obs(): |
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var goal_distance = 0.0 |
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var goal_position = Vector3.ZERO |
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if _player.next == 0: |
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goal_distance = _player.position.distance_to(_player.first_jump_pad.position) |
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goal_position = _player.first_jump_pad.global_position |
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if _player.next == 1: |
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goal_distance = _player.position.distance_to(_player.second_jump_pad.position) |
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goal_position = _player.second_jump_pad.global_position |
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var goal_vector = _player.to_local(goal_position).normalized() |
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goal_distance = clamp(goal_distance, 0.0, 20.0) |
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var obs = [] |
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obs.append_array( |
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[ |
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_player.move_vec.x / _player.MOVE_SPEED, |
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_player.move_vec.y / _player.MAX_FALL_SPEED, |
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_player.move_vec.z / _player.MOVE_SPEED |
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] |
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) |
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obs.append_array([goal_distance / 20.0, goal_vector.x, goal_vector.y, goal_vector.z]) |
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obs.append(_player.grounded) |
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obs.append_array(_player.raycast_sensor.get_observation()) |
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return { |
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"obs": obs, |
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} |
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func set_action(action): |
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_player.move_action = action["move"][0] |
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_player.turn_action = action["turn"][0] |
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_player.jump_action = action["jump"][0] > 0 |
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func get_action_space(): |
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return { |
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"jump": {"size": 1, "action_type": "continuous"}, |
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"move": {"size": 1, "action_type": "continuous"}, |
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"turn": {"size": 1, "action_type": "continuous"} |
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} |
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func get_reward(): |
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var current_reward = reward |
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reward = 0 # reset the reward to zero checked every decision step |
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return current_reward |
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