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extends CharacterBody3D
# Maximum airspeed
var max_flight_speed = 30
# Turn rate
@export var turn_speed = 5.0
@export var level_speed = 12.0
@export var turn_acc = 4.0
# Climb/dive rate
var pitch_speed = 2.0
# Wings "autolevel" speed
# Throttle change speed
var throttle_delta = 30
# Acceleration/deceleration
var acceleration = 6.0
# Current speed
var forward_speed = 0
# Throttle input speed
var target_speed = 0
#var velocity = Vector3.ZERO
var found_goal = false
var exited_arena = false
var cur_goal = null
@onready var environment = get_parent()
@onready var ai_controller = $AIController3D
# ------- #
var turn_input = 0
var pitch_input = 0
var best_goal_distance := 10000.0
var transform_backup = null
func _ready():
ai_controller.init(self)
transform_backup = transform
func game_over():
cur_goal = environment.get_next_goal(null)
transform_backup = transform_backup
position.x = 0 + randf_range(-2, 2)
position.y = 27 + randf_range(-2, 2)
position.z = 0 + randf_range(-2, 2)
velocity = Vector3.ZERO
rotation = Vector3.ZERO
found_goal = false
exited_arena = false
best_goal_distance = to_local(cur_goal.position).length()
ai_controller.reset()
func update_reward():
ai_controller.reward -= 0.01 # step penalty
ai_controller.reward += shaping_reward()
func shaping_reward():
var s_reward = 0.0
var goal_distance = to_local(cur_goal.position).length()
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 set_heuristic(heuristic):
self._heuristic = heuristic
func _physics_process(delta):
if ai_controller.needs_reset:
game_over()
return
if cur_goal == null:
game_over()
set_input()
if Input.is_action_just_pressed("r_key"):
game_over()
# Rotate the transform based checked the input values
transform.basis = transform.basis.rotated(
transform.basis.x.normalized(), pitch_input * pitch_speed * delta
)
transform.basis = transform.basis.rotated(Vector3.UP, turn_input * turn_speed * delta)
$PlaneModel.rotation.z = lerp($PlaneModel.rotation.z, -float(turn_input), level_speed * delta)
$PlaneModel.rotation.x = lerp($PlaneModel.rotation.x, -float(pitch_input), level_speed * delta)
# Movement is always forward
velocity = -transform.basis.z.normalized() * max_flight_speed
# Handle landing/taking unchecked
set_velocity(velocity)
set_up_direction(Vector3.UP)
move_and_slide()
update_reward()
func set_input():
if ai_controller.heuristic == "model":
return
else:
turn_input = (
Input.get_action_strength("roll_left") - Input.get_action_strength("roll_right")
)
pitch_input = (
Input.get_action_strength("pitch_up") - Input.get_action_strength("pitch_down")
)
func goal_reached(goal):
if goal == cur_goal:
ai_controller.reward += 100.0
cur_goal = environment.get_next_goal(cur_goal)
func exited_game_area():
ai_controller.done = true
ai_controller.reward -= 10.0
exited_arena = true
game_over()
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