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extends AIController3D
class_name CarAIController
var track: Track
var human_controlled_on_inference: bool
func reset():
n_steps = 0
needs_reset = false
func get_obs_for_car(car: Car):
var player_velocity = car.get_normalized_velocity_in_player_reference()
var observations: Array = [player_velocity.x, player_velocity.z, car.angular_velocity.y / 5.0]
observations.append_array(car.get_next_track_points(3, 20))
observations.append_array(car.raycast_sensor_wall.get_observation())
observations.append_array(car.raycast_sensor_other_car.get_observation())
observations.append_array(car.get_other_car_position_in_local_reference())
var closest_powerup = track.get_closest_powerup(car.global_position) as Powerup
var powerup_relative_position = (
(car.to_local(closest_powerup.global_position)).limit_length(150) / 150.0
)
var powerup_obs: Array[float] = [powerup_relative_position.x, powerup_relative_position.z]
powerup_obs.append_array(closest_powerup.category_as_array_one_hot_encoded)
observations.append_array(powerup_obs)
return observations
func get_obs() -> Dictionary:
_player.prepare_for_sending_obs()
return {"obs": get_obs_for_car(_player)}
func get_reward() -> float:
_player.update_reward()
return reward
func get_action_space() -> Dictionary:
return {
"acceleration": {"size": 1, "action_type": "continuous"},
"steering": {"size": 1, "action_type": "continuous"},
}
## This override disables restarting the episode due to timeout
func _physics_process(_delta):
n_steps += 1
func set_action(action) -> void:
_player.requested_acceleration = clampf(action.acceleration[0], -1.0, 1.0)
_player.requested_steering = clampf(action.steering[0], -1.0, 1.0)
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