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extends RigidBody3D |
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class_name Robot |
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@export var other_player: Robot |
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@export var goal: Area3D |
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@export var wheels: Array[Node3D] |
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@export var acceleration: float = 100.0 |
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@export var rotation_speed: float = 15.0 |
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@export var jump_force: float = 290 |
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@export var gravity := Vector3.DOWN * 60.0 |
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@onready var robot_visual: Node3D = $robot |
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@onready var jump_sensor: RayCast3D = $JumpSensor |
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@onready var ai_controller: RobotAIController = $AIController3D |
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@onready var particles: GPUParticles3D = $GPUParticles3D |
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@onready var initial_position = global_position |
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var game_manager: GameManager |
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var ball: Ball |
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var requested_movement: float |
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var jump_requested: bool |
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var velocity: Vector3 |
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var last_movement_direction: float = 1 |
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## If set, the score from this Robot will be displayed in the label |
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var score_label: Label |
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var score : int: |
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set(value): |
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score = value |
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if score_label: |
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score_label.text = str(value) |
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func _ready(): |
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score = 0 |
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reset() |
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func reset(): |
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linear_velocity = Vector3.ZERO |
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global_position = initial_position |
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func _physics_process(delta): |
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reset_on_needs_reset() |
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handle_movement(delta) |
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func reset_on_needs_reset(): |
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if ai_controller.needs_reset: |
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reset() |
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ai_controller.reset() |
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pass |
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func handle_movement(delta): |
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var movement := Vector3() |
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if ai_controller.heuristic == "human": |
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if Input.is_action_pressed("move_left"): |
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movement.x = -1 |
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if Input.is_action_pressed("move_right"): |
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movement.x = 1 |
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if Input.is_action_pressed("jump"): |
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if jump_sensor.is_colliding(): |
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apply_force(Vector3.UP * jump_force) |
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else: |
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movement = global_basis.z * requested_movement |
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if jump_sensor.is_colliding() and jump_requested: |
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apply_force(Vector3.UP * jump_force) |
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if movement: |
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last_movement_direction = sign(movement.x) |
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apply_acceleration(movement.normalized()) |
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update_particle_effects() |
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update_wheels_and_visual_rotation(delta) |
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rotate_toward_movement(delta) |
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apply_gravity() |
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func apply_acceleration(direction): |
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apply_force(direction * acceleration) |
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func apply_gravity(): |
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apply_force(gravity) |
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func rotate_toward_movement(delta): |
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if abs(last_movement_direction) > 0.005: |
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robot_visual.global_transform = ( |
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robot_visual |
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. global_transform |
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. interpolate_with( |
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robot_visual.global_transform.looking_at( |
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( |
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robot_visual.global_transform.origin |
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+ Vector3(last_movement_direction, 0, +0.01) |
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) |
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), |
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rotation_speed * delta |
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) |
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. orthonormalized() |
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) |
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func update_wheels_and_visual_rotation(delta): |
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var abs_movement = abs(linear_velocity.x) |
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for wheel in wheels: |
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wheel.rotate_object_local(Vector3.LEFT, abs_movement * 1.3 * delta) |
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robot_visual.rotation.x = -0.01 * abs_movement |
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func update_particle_effects(): |
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if linear_velocity.x > 0.25 and jump_sensor.is_colliding(): |
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particles.emitting = true |
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else: |
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particles.emitting = false |
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func end_episode(reward: float): |
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ai_controller.reward += reward |
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ai_controller.done = true |
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ai_controller.needs_reset = true |
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pass |
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