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fix(*): Detect wall contact by contact normal so floor contact anywhere on the pitch is exempt from the wall penalty

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Josh Creek
2026-07-19 15:53:30 +01:00
parent 4e2d406aa2
commit c8f052854c
1 changed files with 16 additions and 15 deletions
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Game/scripts/ship_ai_controller.gd
+16 -15
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@@ -29,9 +29,9 @@ extends AIController3D
# flat, idle ship farms nothing. # flat, idle ship farms nothing.
@export var tilt_penalty := 0.002 @export var tilt_penalty := 0.002
# A ship (1x1x4 box) touching a wall has its centre within ~2.05 of it; # Contact normals with y above this are floor contact (exempt from the wall
# 2.5 adds slack for contact jitter without misreading mid-field contact. # penalty); below it they read as wall (sideways) or ceiling (downward).
const WALL_PROXIMITY_MARGIN := 2.5 const FLOOR_NORMAL_MIN_Y := 0.7
var ship: Ship var ship: Ship
var rl_controller: RLShipController var rl_controller: RLShipController
@@ -101,8 +101,9 @@ func _physics_process(delta):
# Dense penalty: every tick spent pressed against a wall or the ceiling # Dense penalty: every tick spent pressed against a wall or the ceiling
# (contact monitoring is already on for the ball-touch reward). Ships # (contact monitoring is already on for the ball-touch reward). Ships
# bumping each other, the ball, or the floor is fine. The boundary is one # bumping each other, the ball, or the floor is fine. The boundary is one
# body, so position tells us which surface the contact is. # body, so the contact normal tells us which surface: floor contact
if wall_contact_penalty > 0.0 and _touching_boundary() and _near_wall_or_ceiling(): # pushes the ship up (+Y), walls push sideways, the ceiling down.
if wall_contact_penalty > 0.0 and _wall_or_ceiling_contact():
reward -= wall_contact_penalty reward -= wall_contact_penalty
# Dense penalty: tilt away from upright (0 flat, max when inverted) — # Dense penalty: tilt away from upright (0 flat, max when inverted) —
@@ -112,20 +113,20 @@ func _physics_process(delta):
reward -= tilt_penalty * (1.0 - uprightness) * 0.5 reward -= tilt_penalty * (1.0 - uprightness) * 0.5
func _touching_boundary() -> bool: func _wall_or_ceiling_contact() -> bool:
for body in ship.get_colliding_bodies(): var state := PhysicsServer3D.body_get_direct_state(ship.get_rid())
if body is ArenaBoundary: if state == null:
return false
for i in state.get_contact_count():
if not state.get_contact_collider_object(i) is ArenaBoundary:
continue
# Normal points from the surface into the ship: floor ≈ +Y (exempt),
# anything flatter or downward is a wall or the ceiling.
if state.get_contact_local_normal(i).y < FLOOR_NORMAL_MIN_Y:
return true return true
return false return false
func _near_wall_or_ceiling() -> bool:
var p := ship.global_position
return absf(p.x) > ArenaBoundary.INNER_HALF_X - WALL_PROXIMITY_MARGIN \
or absf(p.z) > ArenaBoundary.INNER_HALF_Z - WALL_PROXIMITY_MARGIN \
or p.y > ArenaBoundary.INNER_HEIGHT - WALL_PROXIMITY_MARGIN
func _on_ship_body_entered(body: Node) -> void: func _on_ship_body_entered(body: Node) -> void:
if body.is_in_group("ball"): if body.is_in_group("ball"):
reward += ball_touch_reward reward += ball_touch_reward