| extends AIController3D |
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| @onready var grid_sensor_3d = $GridSensor3D |
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| var fb_action : float = 0.0 |
| var turn_action : float = 0.0 |
| var _player_positions : = Deque.new() |
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| func _ready(): |
| super._ready() |
| _player_positions.max_size = 80 # 10 steps with repeat of 8 |
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| func get_obs() -> Dictionary: |
| var obs = grid_sensor_3d.get_observation() |
| return {"obs": obs} |
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| 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()) |
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|
| func _physics_process(delta): |
| _player_positions.push_back(_player.position) |
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| func reset(): |
| super.reset() |
| _player_positions.clear() |
| _player_positions.push_back(_player.position) |
| |
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| 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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