Retraining from scratch removes the constraint that blocked these: the
existing checkpoints in Game/bots/promoted/ no longer need byte-identical
geometry.
- Fix the goal aperture constants (were 1.85/1.65, now match
objects/goal.tscn's actual sensor exactly at 1.75/1.5) so a ball crossing
the visible edge can't fail to score.
- Cut a real navigable hole in each end wall's collision
(_build_end_wall_colliders), replacing the previous solid box — the ball
now genuinely enters the net instead of triggering the sensor a hair
before hitting a solid wall. Correct for both FLOOR and ELEVATED goal
modes via _goal_surround_bounds. A separate, slightly wider
GOAL_VISUAL_APERTURE_* pair keeps the collision hole exact while still
giving goal.gd's bezel/rim frame clearance to be seen against the hull cut.
- Resize the play volume 1.5x (INNER_HALF_X/Z/HEIGHT 12/18/12 -> 18/27/18) to
comfortably fit a 5v5 roster: updates every hand-authored literal in
arena_boundary.tscn/arena_base.tscn/the elevated arena variants that
doesn't derive from those constants, adds 5 spawn markers per team, and
rescales ship_observations.gd's normalization scales and arena_02's
cosmetic decoration/nebula-dust shader uniforms to match.
- Bake the ~170 runtime-generated CollisionShape3D nodes into the scene via
a new bake_colliders()/tools/bake_arena_boundary.gd instead of rebuilding
them on every load — a real load-time cost repeated in every parallel
headless training env. Colliders must be direct children of the
StaticBody3D to register at all, so bake_colliders() parents them onto
self and tags them with a group for idempotent re-baking, rather than
grouping them under an intermediate container node. _ready() self-heals:
it skips regenerating only when an existing bake's goal_mode metadata
matches the current one, so the FLOOR-mode bake in the shared scene is
never silently reused by an ELEVATED arena variant.
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.
Josh Creek