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extends AIController3D |
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class_name PlatformAIController |
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@export var game_manager: GameSceneManager |
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@export var goal: Goal |
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@export var player_ai_controller: PlayerAIController |
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@onready var platform: Platform = $Platform |
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@onready var initial_position = position |
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func get_obs() -> Dictionary: |
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var obs: Array |
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var goal_relative = (platform.to_local(goal.global_position) / 20.0).limit_length(1.0) |
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var player_relative = ( |
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(platform.to_local(player_ai_controller.player.global_position) / 10.0).limit_length(1.0) |
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) |
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var platform_velocity = platform.velocity.limit_length(platform.speed) / platform.speed |
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var player_speed = player_ai_controller.player.speed |
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var player_velocity = player_ai_controller.player.velocity.limit_length(player_speed) / player_speed |
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obs.append_array( |
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[ |
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goal_relative.x, |
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goal_relative.y, |
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goal_relative.z, |
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player_relative.x, |
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player_relative.y, |
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player_relative.z, |
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platform_velocity.x, |
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platform_velocity.y, |
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platform_velocity.z, |
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player_velocity.x, |
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player_velocity.y, |
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player_velocity.z |
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] |
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) |
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return {"obs": obs} |
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func get_reward() -> float: |
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return reward |
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func get_action_space() -> Dictionary: |
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return { |
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"movement": {"size": 1, "action_type": "continuous"}, |
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} |
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func _physics_process(delta: float) -> void: |
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super._physics_process(delta) |
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if heuristic == "human": |
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set_action() |
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func set_action(action = null) -> void: |
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if action == null: |
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platform.requested_movement = ( |
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Input.get_action_strength("platform_right") - Input.get_action_strength("platform_left") |
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) |
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return |
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platform.requested_movement = clamp(action.movement[0], -1.0, 1.0) |
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func reset(): |
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super.reset() |
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position = position |
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platform.position = Vector3.ZERO |
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platform.velocity = Vector3.ZERO |
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