| 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 | |