File size: 1,579 Bytes
c5a8672 |
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 |
extends AIController3D
func _physics_process(_delta):
n_steps += 1
if n_steps >= reset_after:
done = true
needs_reset = true
if needs_reset:
_player.emit_signal("reset", _player)
reset()
func get_obs() -> Dictionary:
var obs = []
var ray_obs = $RayCastSensor3D.calculate_raycasts()
var goal_distance = _player.global_transform.origin.distance_to(_player.goal.global_transform.origin)
var goal_vector = (_player.goal.global_transform.origin - _player.global_transform.origin).normalized()
goal_vector = goal_vector.rotated(Vector3.UP, -_player.rotation.y)
goal_distance = clamp(goal_distance, 0.0, 20.0)
obs.append_array(ray_obs)
obs.append_array([goal_distance/20.0, goal_vector.x, goal_vector.y, goal_vector.z])
obs.append(_player.is_on_floor())
var level_obs = [0.0,0.0,0.0,0.0]
level_obs[_player.current_level] = 1.0
obs.append_array(level_obs)
return {"obs":obs}
func get_reward():
var current_reward = reward
reward = 0 # reset the reward to zero checked every decision step
return current_reward
func get_action_space():
return {
"jump": {"size": 1, "action_type": "continuous"},
"move": {"size": 2, "action_type": "continuous"},
"turn": {"size": 2, "action_type": "continuous"}
}
func set_action(action):
_player.move_action = Vector2(action["move"][0], action["move"][1])
_player.turn_action = Vector2(action["turn"][0], action["turn"][1])
_player.jump_action = action["jump"][0] > 0
func get_obs_space() -> Dictionary:
var obs = get_obs()
return {
"obs": {
"size": [len(obs["obs"])],
"space": "box"
},
}
|