mirror of
https://github.com/jcreek/CosmicClash.git
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Josh Creek
70 lines
2.7 KiB
GDScript
70 lines
2.7 KiB
GDScript
class_name ShipObservations
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extends RefCounted
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# Canonical, team-relative observation builder. Shared by training
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# (ShipAIController) and in-game inference (AIShipController) so a trained
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# policy sees byte-identical inputs in both contexts — do not fork this logic.
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#
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# Self-play trick: observations for team 1 are rotated 180° about Y
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# (x → -x, z → -z), so every ship perceives itself attacking toward -Z
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# regardless of which side it spawned on. One policy can then play both teams.
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# The same rotation must be inverted when interpreting actions (see canon —
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# it is its own inverse).
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# Normalization scales. Arena bounds: goals at z ≈ ±15.56, ship spawns at
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# z = ±12; positions are soft-normalized to roughly [-1, 1].
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const POSITION_SCALE := Vector3(20.0, 10.0, 20.0)
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const BALL_SPEED_SCALE := 30.0
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const GOAL_DISTANCE_SCALE := 40.0
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# Number of floats build() returns; the policy input size.
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const SIZE := 31
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# 180° rotation about Y for team 1; identity for team 0. A proper rotation
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# (preserves handedness), and its own inverse — used for both observations
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# and mapping canonical-frame actions back to world intent.
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static func canon(v: Vector3, team: int) -> Vector3:
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return v if team == 0 else Vector3(-v.x, v.y, -v.z)
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# attack_goal_position: centre of the goal this ship is trying to score in
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# (the goal whose `team` == the opponent's team).
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static func build(ship: Ship, opponent: Ship, ball: RigidBody3D, attack_goal_position: Vector3) -> Array:
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var team := ship.team
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var obs := []
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# Own kinematics
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_append(obs, canon(ship.global_position, team) / POSITION_SCALE)
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_append(obs, canon(-ship.global_transform.basis.z, team)) # forward
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_append(obs, canon(ship.global_transform.basis.y, team)) # up
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_append(obs, canon(ship.linear_velocity, team) / ship.max_speed)
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_append(obs, canon(ship.angular_velocity, team) / ship.max_angular_speed)
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# Ball, relative to self
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var ball_rel := ball.global_position - ship.global_position
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_append(obs, canon(ball_rel, team) / POSITION_SCALE)
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_append(obs, canon(ball.linear_velocity, team) / BALL_SPEED_SCALE)
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# Opponent, relative to self (zeros if absent, e.g. a 1-ship drill)
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if is_instance_valid(opponent):
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var opp_rel := opponent.global_position - ship.global_position
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_append(obs, canon(opp_rel, team) / POSITION_SCALE)
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_append(obs, canon(opponent.linear_velocity, team) / ship.max_speed)
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else:
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_append(obs, Vector3.ZERO)
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_append(obs, Vector3.ZERO)
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# Goal we are attacking, relative to self
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var goal_rel := attack_goal_position - ship.global_position
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_append(obs, canon(goal_rel, team) / POSITION_SCALE)
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obs.append(goal_rel.length() / GOAL_DISTANCE_SCALE)
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return obs
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static func _append(obs: Array, v: Vector3) -> void:
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obs.append(v.x)
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obs.append(v.y)
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obs.append(v.z)
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