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