ship.gd, HUDController.gd, and goal.gd each declared their own TEAM_COLORS,
arena_boundary.gd/arena_deck.gdshader had a third pair, and HUD.tscn baked
in a fourth (hardcoded "BLUE"/"ORANGE" labels) — nose, goal rim, end zone,
and scoreboard all rendered different blues. New scripts/team_colors.gd
(class_name TeamColors) is now the single source every one of those reads
from, and team identity moves to purple/green.
WorldEnvironment's Environment sub-resource was shared across every
instantiate() of a cached arena PackedScene, so glow/brightness/sky
tweaks in Arena._ready() compounded further each time a player
re-entered an arena instead of applying fresh.
Hull/Canopy/EngineGlowL/EngineGlowR are runtime-baked into one ArrayMesh
in _ready via SurfaceTool.append_from, dropping 4 MeshInstance3D children
to 1 (Nose/TailFin stay separate, they're retinted per-team). Skipped in
headless mode like the goal/arena_boundary visual builds, since physics
only cares about CollisionShape3D.
All 6 source surfaces (hull, canopy, engine_l x2, engine_r x2) carry
distinct materials, so this doesn't literally cut draw calls 6 to 3 as
TODO.md assumed — Godot still issues one draw call per surface regardless
of node count. The real win is scene-tree/transform overhead, not batching.
_apply_team_color() allocated a fresh StandardMaterial3D on every call, and
ran at least twice per ship (once from _ready at the default team, once from
the team setter when the game mode assigns the real team). Cache one
StandardMaterial3D per team in a static dict on Ship and reuse it across
every ship on that team.
Goal._build_visuals() built 10 MeshInstance3D nodes across 4 materials
(1 pocket + 1 net + 4 bezel-ring + 4 rim-ring boxes) per goal. Replaced
with a single MeshInstance3D wrapping one ArrayMesh with 4 SurfaceTool-
committed surfaces (pocket, net, bezel, rim), one material per surface
via surface_set_material — 10 nodes down to 1, same 4 materials.
Kept 4 surfaces rather than collapsing further: the rim is a tuned
team-tinted emitter, the net carries its own discard shader, and the
pocket/bezel differ in albedo/metallic/roughness. Merging those into a
shared material would be a visible regression, not a free win.
Added a local box-to-SurfaceTool helper (6 quads via arena_boundary.gd's
_add_quad/_add_tri winding-correction trick, copied in rather than
shared since that file's geometry is collision-adjacent). The pocket's
old cull_mode = CULL_FRONT trick is replaced by emitting its geometry
with inverted winding; the net's cull_front stays material-driven since
goal_net.gdshader's own render_mode depends on that winding convention.
Verified in the editor: both team-tinted goals render an intact pocket,
net, bezel and glowing rim with no backface/winding artifacts, and the
headless free_play smoke test still runs clean.
_process() called get_viewport().get_camera_3d() every frame to drive
the containment field's camera-side fade. Cache it the same way
ship_camera.gd caches the ball, revalidating with is_instance_valid
since exactly one camera rig is spawned per game-mode run today.
hud_gauge, hud_attitude_indicator, and hud_heading_tape now skip
queue_redraw() when the newly-lerped value hasn't moved past a small
epsilon, instead of redrawing every frame forever. Angle-wrapping
values (heading, attitude roll) use a new shared angle_delta_deg
helper on HudInstrument so the wrap boundary doesn't read as a false
jump.
HUD.tscn's Instruments node now sets process_mode = 1 (PAUSABLE),
overriding the inherited ALWAYS mode from the HUD root so instruments
stop processing during the post-match pause freeze, while sibling
ResultOverlay keeps running its win-screen tween.
Ship._emit_telemetry_data() ran get_euler()+trig every physics tick
for every ship regardless of whether a HUD was watching, wasting work
on AI ships and every headless training instance. Disable
_physics_process outright when headless, and skip emission the rest
of the time unless a signal actually has a listener.
Arenas inherit from a new arena_base.tscn instead of restating ~40 shared
lines each; only sky/ambient/glow/tint/decoration vary, exposed via new
Arena exports since nested Environment properties aren't overridable
through scene inheritance. Bot construction and score-keeping move onto
GameMode, shared by match and spectate modes while preserving their
differing GameSettings-override behavior and the HUD's score-row
duck-typing. HUD instruments share a HudInstrument base for the
smoothing-weight calc and angle-lerp helper. Also dedupes
MAIN_MENU_SCENE_PATH into ScenePaths and documents why DIFFICULTIES
tiers share one checkpoint.
Each of the three arenas gains an ELEVATED sibling scene that inherits the
base arena and overrides the boundary's goal_mode, the two goal transforms
and the ship spawns, so the goal sits at mid-wall height instead of flush
with the deck. Registered in ArenaRegistry alongside the floor-level arenas,
plus a training_elevated scene for self-play on them.
TrainingMode reads the arena's goal_mode once in _start() and widens the
ball-placement height range to match the goal's real position; on FLOOR
arenas the bound is a no-op, so floor-level training is unchanged. It is read
in _start() rather than _ready() because TrainingMode has no _ready()
override and GameMode._ready() is what discovers the arena first.
Policies trained against floor-level goals are not expected to score on an
elevated one, so the two are kept as separate arenas rather than a variant of
the same entry.
The goal was a single flat translucent slab. Because the chase camera sits
behind the goal line at kickoff it rendered as a large blue rectangle across
the lower screen, and the hull beside the mouth was translucent field panel,
so the pocket behind it showed straight through the wall and the net appeared
a second time alongside the frame.
The boundary now carries an opaque bulkhead around each mouth, which occludes
properly. On top of that the goal becomes a pocket sunk into the wall: a dark
machined bezel lining the opening, a thin team-coloured emissive rim flush
with the wall face, and netting from a single box viewed inside-out, giving a
five-sided pocket instead of a flat panel across the back.
The net is cut with discard rather than alpha blending so it still writes
depth and sorts against the frame and the containment field like solid
geometry; a blended net would join the transparent queue and sort per object
against the boundary shell, which is the artefact this whole pass removed.
goal.tscn drops from 18 node/sub-resource blocks to 3 — it is now just the
Area3D, its CollisionShape3D and the script. All geometry is built in code
from two loops, and the mouth is measured off the collision shape rather than
restated, so the frame cannot drift from the volume that actually scores.
The sensor, its collision shape and the goal_scored signal are unchanged, and
visuals are skipped under --headless.
Every visible surface of the enclosure shared one alpha-blended material and
was drawn as several overlapping layers: floor, ceiling and four walls as
solid BoxMeshes, plus corner curves and fillets generated on top of the box
faces they eased into. Alpha-blended surfaces don't write depth and sort per
object, so the perimeter composited that tint twice and the corners three
times, giving hard-edged trapezoidal patches that re-sorted as the camera
moved. The floor box also overhung the walls by 1 m and showed through them.
Replace all of it with a single generated mesh covering the inner surface
exactly once, every piece cut to meet its neighbours edge-on and only
inward-facing triangles emitted. It carries two surfaces: an opaque hull
(deck, base fillets, goal bulkheads) and the translucent containment field
(walls, corners, ceiling fillets, ceiling).
The field shader is additive and unshaded rather than alpha-blended: additive
cannot double-darken and composites order-independently, so overlap is
structurally invisible, and being unshaded it no longer picks up per-arena
light and GI gradients across a 28x40 m panel. Fresnel replaces the old
StandardMaterial3D rim, which was a lit effect and the wrong tool. The deck
shader draws plating and field markings procedurally from the boundary's own
constants, so markings cannot drift from the collision geometry.
Per-face MeshInstance3D visibility toggling is gone; the field shader fades
facets the camera has crossed outside of per-pixel from one uniform, which is
what allows a single merged mesh.
Also adds ELEVATED goal mode and the ceiling fillets, and skips the mesh build
entirely under --headless, where training spawns instances that never render.
Collision is untouched: 166 collider shapes in FLOOR mode and 158 in ELEVATED,
verified byte-identical to before, so trained policies in Game/bots/ are
unaffected.
Enable glow/bloom, color adjustments, and MSAA+FXAA across all three
arenas so emissive ship/station accents actually bleed light and edges
read cleanly. Expose the player-facing knobs (anti-aliasing mode, glow
intensity, brightness) through a new Settings screen off the main menu,
persisted via a VideoSettings autoload that scales each arena's own
tuned Environment values on load rather than overwriting them.
Introduce arena_02 (Nebula) and arena_03 (Asteroid Field) alongside
arena_01, listed in a new ArenaRegistry (scripts/arena_registry.gd) as
the single source of truth for available arenas. Free Play lets the
player pick an arena from the main menu; Match/Spectate each pick one
at random per session; Training keeps its own fixed arena_01.
Nebula gets an RL-style visual treatment: a near-invisible glass
boundary material shared by all arenas, a baked equirect nebula sky
texture, a drifting-dust particle system, and a Blender-modeled
station/debris/planet decoration set. GameMode gains a
_get_arena_scene_path() hook so modes can instantiate their arena in
code instead of hardcoding it in the scene.
Replace the raw checkpoint dropdown with curated Easy/Medium/Hard presets
that drive GameSettings' bot model/reaction_ticks/action_noise overrides.
Move raw-checkpoint testing and Spectate mode into a dev-only section
hidden via OS.is_debug_build() so they disappear from release exports.
Generation 2's single "unmask" stage (flip vertical/pitch-roll locomotion
from grounded-only to full 3D in one step) failed 3 independent 240M-step
attempts, landing at a stable 32% / 28% / 31% win rate vs curric-s5-aggression
each time -- not noise, and not fixable by more training time (attempts 2-3
each continued the same checkpoint lineage for another full 240M steps with
zero improvement). Every attempt shows train/std collapsing from ~0.30 to
~0.13-0.15 within the first ~10% of steps and never recovering: the policy
locks the newly-opened axes back down before ever meaningfully exploring
them.
Replaces the boolean allow_vertical/allow_pitch_roll mask on ShipAIController
with float vertical_ramp/pitch_roll_ramp multipliers (0.0-1.0), scaling axis
effect in set_action() instead of gating it outright -- the action space
never changes shape, so checkpoints stay resumable across ramp values. The
single unmask stage in curriculum.py becomes 4: three ungated warmup stages
(25%/50%/75% authority, airborne_penalty ramping in step) that train,
checkpoint, and always advance with no eval gate, then the measured stage at
full authority -- same reference, opponent mode, and 240M budget as the 3
failed attempts, for a direct comparison. Adds a "gated" flag/branch to
main()'s loop for the ungated stages.
This is generation 3 of the curriculum; generation 2's state is archived to
curriculum_state_gen2.json (mirroring the earlier gen1 -> gen2 archival) and
curriculum_state.json resets fresh, since its stage 0 no longer means what it
used to. See TRAINING.md's "Generation 3" section for the full postmortem,
stage table, and the open question about whether scaling action effect in
Godot (which PPO's own entropy/exploration math never sees) actually
addresses the collapse.
Stage 5 (aggression) passed (41-47 vs grounded curric-s2-defend, within
the lenient gate but not yet a clear win). Rather than keep the locomotion
mask on indefinitely, stage 6 reopens full 3D controls on top of the
aggression retune and pairs it with a new dense airborne_penalty (scaled
by height above the floor) so the policy learns to prefer staying grounded
through incentives instead of a hard mask — same regime shift that
regressed stage 3, but this time with a mitigation and ~12x the training
time (~240M timesteps / ~24h vs ~20M / ~2h) to actually re-converge
instead of stalling mid-shift.
airborne_penalty follows the existing SHIP_AI_OVERRIDES pattern: default
0 (off) on ship_ai_controller.gd, exposed via train.py's new
--airborne-penalty flag, added to training_mode.gd's allow-list. Also adds
a per-stage timesteps override in curriculum.py (STAGES[n]["timesteps"])
since this is the first stage to need a different budget than the rest.
GameMode.reset_ball()/reset_ships() teleported to exact, identical spawn
transforms every kickoff. Combined with deterministic bot inference
(action_noise = 0 by default), two ships running the same policy from a
mirror-symmetric state produced mirrored, non-diverging play instead of a
real contest — most visible when both sides use the same exported model.
Adds a small position/yaw jitter (well under anything a player would
notice as "not a real kickoff") so kickoff-style resets stop being
bit-for-bit identical.
AIShipController (eval + real gameplay) ran the raw policy output unmasked
regardless of allow_vertical/allow_pitch_roll, while ShipAIController
(training) correctly discarded those axes for grounded curriculum stages.
A grounded-trained model's untrained vertical/pitch-roll output reached the
ship as noise during eval, understating it against models that were never
handicapped this way.
Josh Creek