| 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 | |