feat(*): Add rounded arena boundaries and reward shaping to curb corner-camping

Game/scripts/ship_ai_controller.gd

@@ -16,6 +16,12 @@ extends AIController3D
 # per sim-second); event terms fire once. Exported so tuning needs no code
 # edits. Goal rewards are added by TrainingMode, which owns goal events.
 @export var ball_touch_reward := 1.0
+# Ball touches pay out at most once per this many physics ticks (1 sim-
+# second at 60). Run07 lesson: body_entered re-fires on every micro-
+# separation, so pinning the ball against a surface farmed ~2 touches/s —
+# outearning every other term while the goal rate fell. The cooldown keeps
+# touches a stepping-stone signal instead of the objective.
+@export var ball_touch_cooldown_ticks := 60
 @export var velocity_to_ball_weight := 0.02
 @export var ball_velocity_to_goal_weight := 0.004
 # Per-tick penalty scaled by distance to the ball (full value at the arena's
@@ -36,6 +42,12 @@ extends AIController3D
 # value (-0.12/s) when inverted. A penalty rather than an upright bonus so a
 # flat, idle ship farms nothing.
 @export var tilt_penalty := 0.002
+# Per-tick bonus for own speed: 0 stationary, full value (+0.24/s) at
+# max_speed. Run07 lesson: after the kickoff flurry both ships parked next to
+# a cornered ball — with every other dense term near zero there, standing
+# still was a rest state. Sized well below velocity_to_ball_weight so flying
+# fast toward the ball still beats flying fast anywhere else.
+@export var speed_reward_weight := 0.004
 
 # Contact normals with y above this are floor contact (exempt from the wall
 # penalty); below it they read as wall (sideways) or ceiling (downward).
@@ -55,6 +67,8 @@ var ball: RigidBody3D
 var opponent: Ship
 var attack_goal_position: Vector3
 
+var _ticks_since_ball_touch := 1 << 30  # large so the first touch always pays
+
 
 # Wire up references after the ship is spawned. `attack_goal` is the goal
 # this ship scores into (goal.team == opponent's team).
@@ -97,10 +111,16 @@ func set_action(action) -> void:
 	rl_controller.action.turbo = int(action["turbo"]) == 1
 
 
+func reset():
+	super()
+	_ticks_since_ball_touch = 1 << 30
+
+
 func _physics_process(delta):
 	super(delta)
 	if not is_instance_valid(ship) or not is_instance_valid(ball):
 		return
+	_ticks_since_ball_touch += 1
 
 	# Dense shaping: own velocity toward the ball
 	var to_ball := ball.global_position - ship.global_position
@@ -113,6 +133,11 @@ func _physics_process(delta):
 	if ball_distance_penalty > 0.0:
 		reward -= ball_distance_penalty * to_ball.length() / MAX_BALL_DISTANCE
 
+	# Dense bonus: own speed, so hovering in place is never a rest state
+	# (see speed_reward_weight).
+	if speed_reward_weight > 0.0:
+		reward += speed_reward_weight * ship.linear_velocity.length() / ship.max_speed
+
 	# Dense shaping: ball velocity toward the goal we attack
 	var ball_to_goal := attack_goal_position - ball.global_position
 	if ball_to_goal.length_squared() > 0.0001:
@@ -149,5 +174,6 @@ func _wall_or_ceiling_contact() -> bool:
 
 
 func _on_ship_body_entered(body: Node) -> void:
-	if body.is_in_group("ball"):
+	if body.is_in_group("ball") and _ticks_since_ball_touch >= ball_touch_cooldown_ticks:
 		reward += ball_touch_reward
+		_ticks_since_ball_touch = 0