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feat(training): add opt-in teamplay evaluation

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This commit is contained in:
Josh Creek
2026-09-01 17:30:40 +01:00
parent 9004800326
commit 7b2f9c26f4
8 changed files with 84 additions and 11 deletions
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Game/scripts/ship_ai_controller.gd
+17 -1
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@@ -38,6 +38,10 @@ extends AIController3D
# stone, matching ball_touch_cooldown_ticks's existing "stepping-stone, not
# the objective" framing.
@export_range(0.0, 1.0) var ball_touch_direction_floor := 0.3
# Fraction of a touch payout shared with teammates. Zero preserves all
# existing 1v1/curriculum reward functions; in teamplay the shared amount is
# divided across teammates and never exceeds the touching ship's payout.
@export_range(0.0, 1.0) var team_touch_credit_weight := 0.0
@export var velocity_to_ball_weight := 0.02
# Dense reward for approaching the ball *nose first* near the floor. Unlike
# velocity_to_ball_weight, sideways/reverse closing velocity earns nothing:
@@ -606,6 +610,12 @@ func _on_ship_body_entered(body: Node) -> void:
if air_touch_bonus_weight > 0.0 and ball.global_position.y > AIR_TOUCH_HEIGHT:
touch_payout += air_touch_bonus_weight * alignment
reward += touch_payout
if team_touch_credit_weight > 0.0 and not teammates.is_empty():
var teammate_credit := team_touch_credit(touch_payout, team_touch_credit_weight, teammates.size())
for teammate in teammates:
var teammate_agent := teammate.get_node_or_null("ShipAIController") as ShipAIController
if is_instance_valid(teammate_agent):
teammate_agent.reward += teammate_credit
_ticks_since_ball_touch = 0
# air_touch_fraction/productive_air_touch_fraction (see get_info) share
@@ -616,4 +626,10 @@ func _on_ship_body_entered(body: Node) -> void:
if ball.global_position.y > AIR_TOUCH_HEIGHT:
_air_touches += 1
if alignment >= PRODUCTIVE_AIR_TOUCH_ALIGNMENT:
_productive_air_touches += 1
_productive_air_touches += 1
static func team_touch_credit(touch_payout: float, weight: float, teammate_count: int) -> float:
if touch_payout <= 0.0 or weight <= 0.0 or teammate_count <= 0:
return 0.0
return touch_payout * clampf(weight, 0.0, 1.0) / teammate_count