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extends KinematicBody
class_name Player
const MOVE_SPEED = 12
const JUMP_FORCE = 30
const GRAVITY = 0.98
const MAX_FALL_SPEED = 30
const TURN_SENS = 2.0
const MAX_STEPS = 10000
onready var cam = $Camera
var move_vec = Vector3()
var y_velo = 0
# RL related variables
onready var robot = $Robot
onready var virtual_camera = $RGBCameraSensor3D
var next = 1
var done = false
var needs_reset = false
var just_reached_negative = false
var just_reached_positive = false
var just_fell_off = false
var best_goal_distance := 10000.0
var grounded := false
var _heuristic := "player"
var move_action := 0.0
var turn_action := 0.0
var jump_action := false
var n_steps = 0
var reward = 0.0
func _ready():
return
#reset()
func _physics_process(_delta):
n_steps +=1
if n_steps >= MAX_STEPS:
done = true
needs_reset = true
if needs_reset:
needs_reset = false
reset()
return
move_vec *= 0
move_vec = get_move_vec()
#move_vec = move_vec.normalized()
move_vec = move_vec.rotated(Vector3(0, 1, 0), rotation.y)
move_vec *= MOVE_SPEED
move_vec.y = y_velo
move_and_slide(move_vec, Vector3(0, 1, 0))
# turning
var turn_vec = get_turn_vec()
rotation_degrees.y += turn_vec*TURN_SENS
grounded = is_on_floor()
y_velo -= GRAVITY
var just_jumped = false
if grounded and y_velo <= 0:
y_velo = -0.1
if y_velo < -MAX_FALL_SPEED:
y_velo = -MAX_FALL_SPEED
if y_velo < 0 and !grounded :
robot.set_animation("falling-cycle")
var horizontal_speed = Vector2(move_vec.x, move_vec.z)
if horizontal_speed.length() < 0.1 and grounded:
robot.set_animation("idle")
elif horizontal_speed.length() >=1.0 and grounded:
robot.set_animation("walk-cycle")
# elif horizontal_speed.length() >= 1.0 and grounded:
# robot.set_animation("run-cycle")
update_reward()
if Input.is_action_just_pressed("r_key"):
reset()
func get_move_vec() -> Vector3:
if done:
move_vec = Vector3.ZERO
return move_vec
if _heuristic == "model":
return Vector3(
0,
0,
clamp(move_action, -1.0, 0.5)
)
var move_vec := Vector3(
0,
0,
clamp(Input.get_action_strength("move_backwards") - Input.get_action_strength("move_forwards"),-1.0, 0.5)
)
return move_vec
func get_turn_vec() -> float:
if _heuristic == "model":
return turn_action
var rotation_amount = Input.get_action_strength("turn_left") - Input.get_action_strength("turn_right")
return rotation_amount
func reset():
needs_reset = false
next = 1
n_steps = 0
#done = false
just_reached_negative = false
just_reached_positive = false
jump_action = false
# Replace with function body.
set_translation(Vector3(0,1.5,0))
rotation_degrees.y = rand_range(-180,180)
y_velo = 0.1
func set_action(action):
move_action = action["move"][0]
turn_action = action["turn"][0]
func reset_if_done():
if done:
reset()
func get_obs():
#print(virtual_camera.get_camera_pixel_encoding())
return {
"camera_2d": virtual_camera.get_camera_pixel_encoding(),
}
func get_obs_space():
# typs of obs space: box, discrete, repeated
return {
"camera_2d":{
"size": virtual_camera.get_camera_shape(),
"space":"box"
},
}
func update_reward():
reward -= 0.01 # step penalty
reward += shaping_reward()
func get_reward():
return reward
func zero_reward():
reward = 0.0
func shaping_reward():
var s_reward = 0.0
return s_reward
func set_heuristic(heuristic):
self._heuristic = heuristic
func get_obs_size():
return len(get_obs())
func get_action_space():
return {
"move" : {
"size": 1,
"action_type": "continuous"
},
"turn" : {
"size": 1,
"action_type": "continuous"
}
}
func get_done():
return done
func set_done_false():
done = false
func calculate_translation(other_pad_translation : Vector3) -> Vector3:
var new_translation := Vector3.ZERO
var distance = rand_range(12,16)
var angle = rand_range(-180,180)
new_translation.z = other_pad_translation.z + sin(deg2rad(angle))*distance
new_translation.x = other_pad_translation.x + cos(deg2rad(angle))*distance
return new_translation
func _on_NegativeGoal_body_entered(body: Node) -> void:
reward -= 1.0
done = true
reset()
func _on_PositiveGoal_body_entered(body: Node) -> void:
reward += 1.0
done = true
reset()
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