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extends CharacterBody2D
const pad = 100
const WIDTH = 1280
const HEIGHT = 720
const MAX_FRUIT = 10
var _bounds := Rect2(pad, pad, WIDTH - 2 * pad, HEIGHT - 2 * pad)
@export var speed := 500
@export var friction = 0.18
var _velocity := Vector2.ZERO
var _action = Vector2.ZERO
@onready var fruit = $"../Fruit"
@onready var raycast_sensor = $"RaycastSensor2D"
@onready var walls := $"../Walls"
@onready var colision_shape := $"CollisionShape2D"
@onready var ai_controller := $AIController2D
var fruit_just_entered = false
var just_hit_wall = false
var best_fruit_distance = 10000.0
var fruit_count = 0
func _ready():
ai_controller.init(self)
raycast_sensor.activate()
func _physics_process(_delta):
var direction = get_direction()
if direction.length() > 1.0:
direction = direction.normalized()
# Using the follow steering behavior.
var target_velocity = direction * speed
_velocity += (target_velocity - _velocity) * friction
set_velocity(_velocity)
move_and_slide()
_velocity = velocity
update_reward()
if Input.is_action_just_pressed("r_key"):
game_over()
func game_over():
fruit_just_entered = false
just_hit_wall = false
fruit_count = 0
_velocity = Vector2.ZERO
_action = Vector2.ZERO
position = _calculate_new_position()
spawn_fruit()
best_fruit_distance = position.distance_to(fruit.position)
ai_controller.reset()
func _calculate_new_position(current_position: Vector2 = Vector2.ZERO) -> Vector2:
var new_position := Vector2.ZERO
new_position.x = randf_range(_bounds.position.x, _bounds.end.x)
new_position.y = randf_range(_bounds.position.y, _bounds.end.y)
if (current_position - new_position).length() < 4.0 * colision_shape.shape.get_radius():
return _calculate_new_position(current_position)
var radius = colision_shape.shape.get_radius()
var rect = Rect2(new_position - Vector2(radius, radius), Vector2(radius * 2, radius * 2))
for wall in walls.get_children():
#wall = wall as Area2D
var cr = wall.get_node("ColorRect")
var rect2 = Rect2(cr.get_position() + wall.position, cr.get_size())
if rect.intersects(rect2):
return _calculate_new_position()
return new_position
func get_direction():
if ai_controller.done:
_velocity = Vector2.ZERO
return Vector2.ZERO
if ai_controller.heuristic == "model":
return _action
var direction := Vector2(
Input.get_action_strength("move_right") - Input.get_action_strength("move_left"),
Input.get_action_strength("move_down") - Input.get_action_strength("move_up")
)
return direction
func get_fruit_position():
return $"../Fruit".global_position
func update_reward():
ai_controller.reward -= 0.01 # step penalty
ai_controller.reward += shaping_reward()
func shaping_reward():
var s_reward = 0.0
var fruit_distance = position.distance_to(fruit.position)
if fruit_distance < best_fruit_distance:
s_reward += best_fruit_distance - fruit_distance
best_fruit_distance = fruit_distance
s_reward /= 100.0
return s_reward
func spawn_fruit():
fruit.position = _calculate_new_position(position)
best_fruit_distance = position.distance_to(fruit.position)
func fruit_collected():
fruit_just_entered = true
ai_controller.reward += 10.0
fruit_count += 1
spawn_fruit()
func wall_hit():
ai_controller.done = true
ai_controller.reward -= 10.0
just_hit_wall = true
game_over()
func _on_Fruit_body_entered(_body):
fruit_collected()
func _on_LeftWall_body_entered(_body):
wall_hit()
func _on_RightWall_body_entered(_body):
wall_hit()
func _on_TopWall_body_entered(_body):
wall_hit()
func _on_BottomWall_body_entered(_body):
wall_hit()
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