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extends AIController3D
func get_obs():
if _player.cur_goal == null:
_player.game_over()
var goal_vector = to_local(_player.cur_goal.position)
var goal_distance = goal_vector.length()
goal_vector = goal_vector.normalized()
goal_distance = clamp(goal_distance, 0.0, 50.0)
var next_goal = _player.environment.get_next_goal(_player.cur_goal)
var next_goal_vector = to_local(next_goal.position)
var next_goal_distance = next_goal_vector.length()
next_goal_vector = next_goal_vector.normalized()
next_goal_distance = clamp(next_goal_distance, 0.0, 50.0)
var obs = [
goal_vector.x,
goal_vector.y,
goal_vector.z,
goal_distance / 50.0,
next_goal_vector.x,
next_goal_vector.y,
next_goal_vector.z,
next_goal_distance / 50.0
]
return {"obs": obs}
func get_action_space():
return {
"pitch": {"size": 1, "action_type": "continuous"},
"turn": {"size": 1, "action_type": "continuous"}
}
func set_action(action):
_player.turn_input = action["turn"][0]
_player.pitch_input = action["pitch"][0]
func get_reward():
return reward
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