File size: 1,563 Bytes
b1bb420 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 |
extends AIController3D
func _physics_process(_delta):
n_steps += 1
if n_steps >= reset_after:
done = true
needs_reset = true
if needs_reset:
_player.game_over()
func get_obs():
var goal_distance = 0.0
var goal_position = Vector3.ZERO
if _player.next == 0:
goal_distance = _player.position.distance_to(_player.first_jump_pad.position)
goal_position = _player.first_jump_pad.global_position
if _player.next == 1:
goal_distance = _player.position.distance_to(_player.second_jump_pad.position)
goal_position = _player.second_jump_pad.global_position
var goal_vector = _player.to_local(goal_position).normalized()
goal_distance = clamp(goal_distance, 0.0, 20.0)
var obs = []
obs.append_array(
[
_player.move_vec.x / _player.MOVE_SPEED,
_player.move_vec.y / _player.MAX_FALL_SPEED,
_player.move_vec.z / _player.MOVE_SPEED
]
)
obs.append_array([goal_distance / 20.0, goal_vector.x, goal_vector.y, goal_vector.z])
obs.append(_player.grounded)
obs.append_array(_player.raycast_sensor.get_observation())
return {
"obs": obs,
}
func set_action(action):
_player.move_action = action["move"][0]
_player.turn_action = action["turn"][0]
_player.jump_action = action["jump"][0] > 0
func get_action_space():
return {
"jump": {"size": 1, "action_type": "continuous"},
"move": {"size": 1, "action_type": "continuous"},
"turn": {"size": 1, "action_type": "continuous"}
}
func get_reward():
var current_reward = reward
reward = 0 # reset the reward to zero checked every decision step
return current_reward
|