mirror of
https://github.com/jcreek/CosmicClash.git
synced 2026-09-11 00:14:00 +00:00
Josh Creek
6f7536f03c
Adversarial review of the previous stage-4 retune found two problems: non_forward_speed used planar_speed - forward_component, which under-charges diagonal motion relative to true lateral speed (e.g. ~29% penalty at 45 degrees off the nose instead of the correct ~71%); fixed to the Pythagorean magnitude for forward-facing angles, full speed for backward-facing ones. Also, ground_tilt_penalty and non_forward_penalty only ever cost reward near the floor with nothing offsetting them above it, which could teach a policy that's still bad at ground handling to just avoid the floor rather than get better at it. Added grounded_upright_reward (ship_ai_controller.gd) plus a new ShipObservations.is_floor_contact helper for genuine belly-on-floor contact detection, so grounding well while upright is the locally profitable choice, not just the least-punished one.