extends CharacterBody3D const MOVE_SPEED = 12 const JUMP_FORCE = 30 const GRAVITY = 0.98 const MAX_FALL_SPEED = 30 const TURN_SENS = 2.0 const MAX_STEPS = 20000 @onready var cam = $Camera3D var move_vec = Vector3() var y_velo = 0 var needs_reset = false # RL related variables @onready var end_position = $"../EndPosition" @onready var raycast_sensor = $"RayCastSensor3D" @onready var first_jump_pad = $"../Pads/FirstPad" @onready var second_jump_pad = $"../Pads/SecondPad" @onready var robot = $Robot var next = 1 var done = false var just_reached_end = false var just_reached_next = false var just_fell_off = false var best_goal_distance := 10000.0 var grounded := false var _heuristic := "player" var move_action := 0.0 var turn_action := 0.0 var jump_action := false var n_steps = 0 var _goal_vec = null var reward = 0.0 func _ready(): raycast_sensor.activate() reset() #func _process(_delta): # if _goal_vec != null: # DebugDraw.draw_line_3d(position, position + (_goal_vec*10), Color(1, 1, 0)) func _physics_process(_delta): #reward = 0.0 n_steps +=1 if n_steps >= MAX_STEPS: done = true needs_reset = true if needs_reset: needs_reset = false reset() return move_vec *= 0 move_vec = get_move_vec() #move_vec = move_vec.normalized() move_vec = move_vec.rotated(Vector3(0, 1, 0), rotation.y) move_vec *= MOVE_SPEED move_vec.y = y_velo set_velocity(move_vec) set_up_direction(Vector3(0, 1, 0)) move_and_slide() # turning var turn_vec = get_turn_vec() rotation.y += deg_to_rad(turn_vec*TURN_SENS) grounded = is_on_floor() y_velo -= GRAVITY var just_jumped = false if grounded and get_jump_action(): robot.set_animation("jump") just_jumped = true y_velo = JUMP_FORCE grounded = false if grounded and y_velo <= 0: y_velo = -0.1 if y_velo < -MAX_FALL_SPEED: y_velo = -MAX_FALL_SPEED if y_velo < 0 and !grounded : robot.set_animation("falling") var horizontal_speed = Vector2(move_vec.x, move_vec.z) if horizontal_speed.length() < 0.1 and grounded: robot.set_animation("idle") elif horizontal_speed.length() < 1.0 and grounded: robot.set_animation("walk") elif horizontal_speed.length() >= 1.0 and grounded: robot.set_animation("run") update_reward() if Input.is_action_just_pressed("r_key"): reset() func get_move_vec() -> Vector3: if done: move_vec = Vector3.ZERO return move_vec if _heuristic == "model": return Vector3( 0, 0, clamp(move_action, -1.0, 0.5) ) var move_vec := Vector3( 0, 0, clamp(Input.get_action_strength("move_backwards") - Input.get_action_strength("move_forwards"),-1.0, 0.5) ) return move_vec func get_turn_vec() -> float: if _heuristic == "model": return turn_action var rotation_amount = Input.get_action_strength("turn_left") - Input.get_action_strength("turn_right") return rotation_amount func get_jump_action() -> bool: if done: jump_action = false return jump_action if _heuristic == "model": return jump_action return Input.is_action_just_pressed("jump") func reset(): needs_reset = false next = 1 n_steps = 0 first_jump_pad.position = Vector3.ZERO second_jump_pad.position = Vector3(0,0,-12) just_reached_end = false just_fell_off = false jump_action = false set_position(Vector3(0,5,0)) rotation.y = deg_to_rad(randf_range(-180,180)) y_velo = 0.1 reset_best_goal_distance() func set_action(action): move_action = action["move"][0] turn_action = action["turn"][0] jump_action = action["jump"] == 1 func reset_if_done(): if done: reset() func get_obs(): var goal_distance = 0.0 var goal_vector = Vector3.ZERO if next == 0: goal_distance = position.distance_to(first_jump_pad.position) goal_vector = (first_jump_pad.position - position).normalized() if next == 1: goal_distance = position.distance_to(second_jump_pad.position) goal_vector = (second_jump_pad.position - position).normalized() goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y) goal_distance = clamp(goal_distance, 0.0, 20.0) var obs = [] obs.append_array([move_vec.x/MOVE_SPEED, move_vec.y/MAX_FALL_SPEED, move_vec.z/MOVE_SPEED]) obs.append_array([goal_distance/20.0, goal_vector.x, goal_vector.y, goal_vector.z]) obs.append(grounded) obs.append_array(raycast_sensor.get_observation()) return { "obs": obs, } func get_obs_space(): # typs of obs space: box, discrete, repeated return { "obs": { "size": [len(get_obs()["obs"])], "space": "box" } } func update_reward(): reward -= 0.01 # step penalty reward += shaping_reward() func get_reward(): var current_reward = reward reward = 0 # reset the reward to zero checked every decision step return current_reward func shaping_reward(): var s_reward = 0.0 var goal_distance = 0 if next == 0: goal_distance = position.distance_to(first_jump_pad.position) if next == 1: goal_distance = position.distance_to(second_jump_pad.position) #print(goal_distance) if goal_distance < best_goal_distance: s_reward += best_goal_distance - goal_distance best_goal_distance = goal_distance s_reward /= 1.0 return s_reward func reset_best_goal_distance(): if next == 0: best_goal_distance = position.distance_to(first_jump_pad.position) if next == 1: best_goal_distance = position.distance_to(second_jump_pad.position) func set_heuristic(heuristic): self._heuristic = heuristic func get_obs_size(): return len(get_obs()) func zero_reward(): reward = 0 func get_action_space(): return { "move" : { "size": 1, "action_type": "continuous" }, "turn" : { "size": 1, "action_type": "continuous" }, "jump": { "size": 2, "action_type": "discrete" } } func get_done(): return done func set_done_false(): done = false func calculate_translation(other_pad_translation : Vector3) -> Vector3: var new_translation := Vector3.ZERO var distance = randf_range(12,16) var angle = randf_range(-180,180) new_translation.z = other_pad_translation.z + sin(deg_to_rad(angle))*distance new_translation.x = other_pad_translation.x + cos(deg_to_rad(angle))*distance return new_translation func _on_First_Pad_Trigger_body_entered(body): if next != 0: return reward += 100.0 next = 1 reset_best_goal_distance() second_jump_pad.position = calculate_translation(first_jump_pad.position) func _on_Second_Trigger_body_entered(body): if next != 1: return reward += 100.0 next = 0 reset_best_goal_distance() first_jump_pad.position = calculate_translation(second_jump_pad.position) func _on_ResetTriggerBox_body_entered(body): done = true reset()