File size: 1,128 Bytes
2952f21 |
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 |
extends AIController3D
class_name PlayerAIController
@export var player: Node3D
@export var raycast_sensors: Array[RayCastSensor3D]
func _physics_process(delta):
n_steps += 1
if n_steps > reset_after:
player.GameSceneManager.Reset()
func end_episode():
done = true
reset()
func get_obs() -> Dictionary:
var obs: PackedFloat32Array = []
for sensor in raycast_sensors:
obs.append_array(sensor.get_observation())
var level_size: float = 10
var relative_goal_position: Vector3 = player.to_local(player.Goal.global_position)
var relative_obstacle_position: Vector3 = player.to_local(player.Obstacle.global_position)
obs.append_array(
[
relative_goal_position.x / level_size,
relative_goal_position.z / level_size,
relative_obstacle_position.x / level_size,
relative_obstacle_position.z / level_size
]
)
return {"obs": obs}
func get_reward() -> float:
return reward
func get_action_space() -> Dictionary:
return {"move_action": {"size": 2, "action_type": "continuous"}}
func set_action(action) -> void:
player.RequestedMovement = Vector2(action.move_action[0], action.move_action[1])
|