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extends AIController3D
@onready var grid_sensor_3d = $GridSensor3D
var fb_action : float = 0.0
var turn_action : float = 0.0
var _player_positions : = Deque.new()
func _ready():
super._ready()
_player_positions.max_size = 80 # 10 steps with repeat of 8
func get_obs() -> Dictionary:
var obs = grid_sensor_3d.get_observation()
return {"obs": obs}
func get_reward() -> float:
return reward + keep_moving_reward()
func keep_moving_reward() -> float:
var mean_position = Vector3.ZERO
for pos in _player_positions:
mean_position += pos
mean_position /= _player_positions.size()
var penalty = 0.0
for pos in _player_positions:
penalty += (pos-mean_position).length()
#prints("penalty", 0.01*(penalty / _player_positions.size()))
return 0.005*(penalty / _player_positions.size())
func _physics_process(delta):
_player_positions.push_back(_player.position)
func reset():
super.reset()
_player_positions.clear()
_player_positions.push_back(_player.position)
func get_action_space() -> Dictionary:
return {
"fb" : {
"size": 1,
"action_type": "continuous"
},
"turn" : {
"size": 1,
"action_type": "continuous"
},
}
func set_action(action) -> void:
fb_action = clamp(action["fb"][0], -1.0, 1.0)
turn_action = clamp(action["turn"][0], -1.0, 1.0)
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