| extends AIController3D |
|
|
|
|
| # ------------------ Godot RL Agents Logic ------------------------------------# |
| # example actions |
|
|
| var movement_action := Vector2(0.0, 0.0) |
| var look_action := Vector2(0.0, 0.0) |
| var jump_action := false |
| var shoot_action := false |
|
|
| var n_steps_without_positive_reward = 0 |
|
|
| @onready var wide_raycast_sensor = $WideRaycastSensor |
| @onready var narrow_raycast_sensor = $NarrowRaycastSensor |
|
|
| func init(player): |
| _player=player |
|
|
| func set_team(value): |
| wide_raycast_sensor.team = value |
| narrow_raycast_sensor.team = value |
| if value == 0: |
| wide_raycast_sensor.team_collision_mask = 8 |
| wide_raycast_sensor.enemy_collision_mask = 16 |
| narrow_raycast_sensor.team_collision_mask = 8 |
| narrow_raycast_sensor.enemy_collision_mask = 16 |
| elif value == 1: |
| wide_raycast_sensor.team_collision_mask = 16 |
| wide_raycast_sensor.enemy_collision_mask = 8 |
| narrow_raycast_sensor.team_collision_mask = 16 |
| narrow_raycast_sensor.enemy_collision_mask = 8 |
| |
|
|
| func reset(): |
| n_steps_without_positive_reward = 0 |
| n_steps = 0 |
|
|
| func get_obs(): |
| var obs = [] |
| obs.append_array(wide_raycast_sensor.get_observation()) |
| obs.append_array(narrow_raycast_sensor.get_observation()) |
| return { |
| "obs":obs |
| } |
|
|
| func get_reward(): |
| var total_reward = reward + shaping_reward() |
| if total_reward <= 0.0: |
| n_steps_without_positive_reward += 1 |
| else: |
| n_steps_without_positive_reward -= 1 |
| n_steps_without_positive_reward = max(0, n_steps_without_positive_reward) |
| return total_reward |
|
|
|
|
| func shaping_reward(): |
| var s_reward = 0.0 |
| return s_reward |
|
|
|
|
| func get_action_space(): |
| return { |
| "movement_action" : { |
| "size": 2, |
| "action_type": "continuous" |
| }, |
| "look_action" : { |
| "size": 2, |
| "action_type": "continuous" |
| }, |
| "jump_action" : { |
| "size": 2, |
| "action_type": "discrete" |
| }, |
| "shoot_action" : { |
| "size": 2, |
| "action_type": "discrete" |
| }, |
| } |
|
|
|
|
| func set_action(action): |
| movement_action = Vector2(clamp(action["movement_action"][0],-1.0,1.0), clamp(action["movement_action"][1],-1.0,1.0)) |
| look_action = Vector2(clamp(action["look_action"][0],-1.0,1.0), clamp(action["look_action"][1],-1.0,1.0)) |
| jump_action = action["jump_action"] == 1 |
| shoot_action = action["shoot_action"] == 1 |
|
|
|
|
| func _physics_process(_delta): |
| n_steps += 1 |
| if n_steps > 4000: |
| _player.needs_respawn = true |
|
|
