extends VehicleBody3D class_name Player const STEER_SPEED = 6.0 const STEER_LIMIT = 0.4 var steer_target = 0 @export var controlled = false @export var engine_force_value = 40 @export var brake_force_value = 60 enum VEHICLE_TYPES {RedConvertible, Car, GreenJeep,PoliceCar, FireTruck, Delivery, GarbageTruck, Hatchback} var VEHICLE_TYPES_STRINGS = ["RedConvertible", "Car", "GreenJeep","PoliceCar", "FireTruck", "Delivery", "GarbageTruck", "Hatchback"] @export var vehicle_type : VEHICLE_TYPES = VEHICLE_TYPES.RedConvertible # ------------------ Godot RL Agents Logic ------------------------------------# var _heuristic := "human" var done := false # example actions var turn_action := 0.0 var acc_action := false var brake_action := false var needs_reset := false var reward := 0.0 var starting_position : Vector3 var starting_rotation : Vector3 var best_goal_distance var n_steps_without_positive_reward = 0 var n_steps = 0 @onready var sensor = $RayCastSensor3D func reset(): position = starting_position rotation = starting_rotation n_steps_without_positive_reward = 0 n_steps = 0 reward = 0.0 GameManager.reset_waypoints(self) best_goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position) # The reset logic e.g reset if a player dies etc, reset health, ammo, position, etc ... pass func reset_if_done(): if done: reset() func get_obs(): var next_waypoint_position = GameManager.get_next_waypoint(self).position var goal_distance = position.distance_to(next_waypoint_position) goal_distance = clamp(goal_distance, 0.0, 40.0) var goal_vector = (next_waypoint_position - position).normalized() goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y) var obs = [] obs.append(goal_distance/40.0) obs.append_array([goal_vector.x, goal_vector.y, goal_vector.z]) var next_next_waypoint_position = GameManager.get_next_next_waypoint(self).position var next_next_goal_distance = position.distance_to(next_next_waypoint_position) next_next_goal_distance = clamp(next_next_goal_distance, 0.0, 80.0) var next_next_goal_vector = (next_next_waypoint_position - position).normalized() next_next_goal_vector = next_next_goal_vector.rotated(Vector3.UP, -rotation.y) obs.append(next_next_goal_distance/80.0) obs.append_array([next_next_goal_vector.x, next_next_goal_vector.y, next_next_goal_vector.z]) obs.append(clamp(brake/40.0,-1.0,1.0)) obs.append(clamp(engine_force/40.0,-1.0,1.0)) obs.append(clamp(steering,-1.0, 1.0)) obs.append_array([clamp(linear_velocity.x/40.0,-1.0,1.0), clamp(linear_velocity.y/40.0,-1.0,1.0), clamp(linear_velocity.z/40.0,-1.0,1.0)]) obs.append_array(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 zero_reward(): reward = 0.0 func shaping_reward(): var s_reward = 0.0 var goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position) #prints(goal_distance, best_goal_distance, best_goal_distance - goal_distance) if goal_distance < best_goal_distance: s_reward += best_goal_distance - goal_distance best_goal_distance = goal_distance # A speed based reward var speed_reward = linear_velocity.length() / 100 speed_reward = clamp(speed_reward, 0.0, 0.1) return s_reward + speed_reward func set_heuristic(heuristic): # sets the heuristic from "human" or "model" nothing to change here self._heuristic = heuristic func get_obs_space(): var obs = get_obs() return { "obs": { "size": [len(obs["obs"])], "space": "box" }, } func get_action_space(): return { "turn" : { "size": 1, "action_type": "continuous" }, "accelerate" : { "size": 2, "action_type": "discrete" }, "brake" : { "size": 2, "action_type": "discrete" }, } func get_done(): return done func set_action(action): turn_action = action["turn"][0] acc_action = action["accelerate"] == 1 brake_action = action["brake"] == 1 # ----------------------------------------------------------------------------# func get_steer_target(): if _heuristic == "human": return Input.get_axis("turn_right", "turn_left") else: return clamp(turn_action, -1.0, 1.0) func get_accelerate_value(): if _heuristic == "human": return Input.is_action_pressed("accelerate") else: return acc_action func get_brake_value(): if _heuristic == "human": return Input.is_action_pressed("reverse") else: return brake_action func _ready(): GameManager.register_player(self) best_goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position) $Node/Camera3D.current = controlled starting_position = position starting_rotation = rotation $Meshes.set_mesh(VEHICLE_TYPES_STRINGS[vehicle_type]) func set_control(value:bool): controlled = value $Node/Camera3D.current = value func crossed_waypoint(): reward += 100.0 best_goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position) func bonus_reward(): print("bonus reward") reward += 50.0 func set_done_false(): done = false func check_reset_conditions(): if done: return n_steps += 1 if n_steps > 10000: print("resetting due to n_steps >10000") done = true reset() return # #var up_axis = transform if n_steps_without_positive_reward > 1000: print("resetting due to n_steps_without_positive_reward >1000") reward -= 10.0 done = true reset() return if transform.basis.y.dot(Vector3.UP) < 0.0: print("resetting due to transform.basis.y.dot(Vector3.UP) < 0.0") #reward -= 10.0 done = true reset() return if position.y < -5.0: print("resetting due to position.y < -5.0") reward -= 10.0 done = true reset() return func _print_goal_info(): var next_waypoint_position = GameManager.get_next_waypoint(self).position var goal_distance = position.distance_to(next_waypoint_position) goal_distance = clamp(goal_distance, 0.0, 20.0) var goal_vector = (next_waypoint_position - position).normalized() goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y) prints(goal_distance, goal_vector) func _physics_process(delta): if _heuristic == "human" and not controlled: return if needs_reset: needs_reset = false reset() return check_reset_conditions() #_print_goal_info() var fwd_mps = (linear_velocity * transform.basis).x #shaping_reward() steer_target = get_steer_target() steer_target *= STEER_LIMIT var accelerating = false if get_accelerate_value(): accelerating = true # Increase engine force at low speeds to make the initial acceleration faster. var speed = linear_velocity.length() if speed < 5 and speed != 0: engine_force = clamp(engine_force_value * 5 / speed, 0, 100) else: engine_force = engine_force_value else: engine_force = 0 $Arrow3D.look_at(GameManager.get_next_waypoint(self).position) if not accelerating and get_brake_value(): # Increase engine force at low speeds to make the initial acceleration faster. if fwd_mps >= -1: var speed = linear_velocity.length() if speed < 5 and speed != 0: engine_force = -clamp(engine_force_value * 5 / speed, 0, 100) else: engine_force = -engine_force_value else: brake = 1*brake_force_value else: brake = 0.0 steering = move_toward(steering, steer_target, STEER_SPEED * delta)