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using Godot;
using Godot.Collections;
using System;
using Array = Godot.Collections.Array;
using Dictionary = Godot.Collections.Dictionary;
public partial class PlayerAIController : AIControllerSharp3D
{
[Export]
public Player Player;
[Export]
public Array<Node> RayCastSensors;
public override void _PhysicsProcess(double delta) {
// Intentionally not calling base._PhysicsProcess(delta)
n_steps += 1;
if(n_steps > reset_after) {
if (DebugOn) GD.Print("Timeout reached. Setting 'needs_reset' to true.");
Player.GameSceneManager.Reset();
}
}
public void EndEpisode() {
done = true;
reset();
}
public override Dictionary get_obs() {
var obs = new Array<float>();
foreach (var sensor in RayCastSensors) {
var sensorObs = (Array<float>)sensor.Call("get_observation");
obs += sensorObs;
}
float levelSize = 10;
Vector3 relativeGoalPosition = Player.ToLocal(Player.Goal.GlobalPosition);
Vector3 relativeObstaclePosition = Player.ToLocal(Player.Obstacle.GlobalPosition);
obs += new Array<float> {
relativeGoalPosition.X / levelSize,
relativeGoalPosition.Z / levelSize,
relativeObstaclePosition.X / levelSize,
relativeObstaclePosition.Z / levelSize
};
return new Dictionary {
{ "obs", obs }
};
}
public override Dictionary get_action_space() {
return new Dictionary {
{"move_action", new Dictionary {
{"size", 2}, {"action_type", "continuous"}
}}
};
}
public override void set_action(Dictionary action) {
float x = (float)((Array) action["move_action"])[0];
float y = (float)((Array) action["move_action"])[1];
Player.RequestedMovement = new Vector2(x, y);
}
}
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