| extends AIController3D |
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| func _physics_process(_delta): |
| n_steps += 1 |
| if n_steps >= reset_after: |
| done = true |
| needs_reset = true |
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| if needs_reset: |
| _player.game_over() |
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| 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 |
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| if _player.next == 1: |
| goal_distance = _player.position.distance_to(_player.second_jump_pad.position) |
| goal_position = _player.second_jump_pad.global_position |
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| var goal_vector = _player.to_local(goal_position).normalized() |
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| 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()) |
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| return { |
| "obs": obs, |
| } |
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| func set_action(action): |
| _player.move_action = action["move"][0] |
| _player.turn_action = action["turn"][0] |
| _player.jump_action = action["jump"][0] > 0 |
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| func get_action_space(): |
| return { |
| "jump": {"size": 1, "action_type": "continuous"}, |
| "move": {"size": 1, "action_type": "continuous"}, |
| "turn": {"size": 1, "action_type": "continuous"} |
| } |
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| func get_reward(): |
| var current_reward = reward |
| reward = 0 # reset the reward to zero checked every decision step |
| return current_reward |
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|
