File size: 1,741 Bytes
35ae6ce |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 |
extends AIController3D
class_name PlatformAIController
@export var game_manager: GameSceneManager
@export var goal: Goal
@export var player_ai_controller: PlayerAIController
@onready var platform: Platform = $Platform
@onready var initial_position = position
func get_obs() -> Dictionary:
var obs: Array
var goal_relative = (platform.to_local(goal.global_position) / 20.0).limit_length(1.0)
var player_relative = (
(platform.to_local(player_ai_controller.player.global_position) / 10.0).limit_length(1.0)
)
var platform_velocity = platform.velocity.limit_length(platform.speed) / platform.speed
var player_speed = player_ai_controller.player.speed
var player_velocity = player_ai_controller.player.velocity.limit_length(player_speed) / player_speed
obs.append_array(
[
goal_relative.x,
goal_relative.y,
goal_relative.z,
player_relative.x,
player_relative.y,
player_relative.z,
platform_velocity.x,
platform_velocity.y,
platform_velocity.z,
player_velocity.x,
player_velocity.y,
player_velocity.z
]
)
return {"obs": obs}
func get_reward() -> float:
return reward
func get_action_space() -> Dictionary:
return {
"movement": {"size": 1, "action_type": "continuous"},
}
func _physics_process(delta: float) -> void:
super._physics_process(delta)
if heuristic == "human":
set_action()
func set_action(action = null) -> void:
if action == null:
platform.requested_movement = (
Input.get_action_strength("platform_right") - Input.get_action_strength("platform_left")
)
return
platform.requested_movement = clamp(action.movement[0], -1.0, 1.0)
func reset():
super.reset()
position = position
platform.position = Vector3.ZERO
platform.velocity = Vector3.ZERO
|