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extends AIController3D |
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@onready var grid_sensor_3d = $GridSensor3D |
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var fb_action : float = 0.0 |
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var turn_action : float = 0.0 |
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var _player_positions : = Deque.new() |
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func _ready(): |
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super._ready() |
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_player_positions.max_size = 80 # 10 steps with repeat of 8 |
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func get_obs() -> Dictionary: |
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var obs = grid_sensor_3d.get_observation() |
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return {"obs": obs} |
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func get_reward() -> float: |
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return reward + keep_moving_reward() |
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func keep_moving_reward() -> float: |
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var mean_position = Vector3.ZERO |
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for pos in _player_positions: |
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mean_position += pos |
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mean_position /= _player_positions.size() |
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var penalty = 0.0 |
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for pos in _player_positions: |
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penalty += (pos-mean_position).length() |
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#prints("penalty", 0.01*(penalty / _player_positions.size())) |
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return 0.005*(penalty / _player_positions.size()) |
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func _physics_process(delta): |
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_player_positions.push_back(_player.position) |
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func reset(): |
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super.reset() |
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_player_positions.clear() |
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_player_positions.push_back(_player.position) |
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func get_action_space() -> Dictionary: |
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return { |
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"fb" : { |
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"size": 1, |
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"action_type": "continuous" |
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}, |
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"turn" : { |
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"size": 1, |
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"action_type": "continuous" |
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}, |
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} |
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func set_action(action) -> void: |
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fb_action = clamp(action["fb"][0], -1.0, 1.0) |
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turn_action = clamp(action["turn"][0], -1.0, 1.0) |
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