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extends CharacterBody2D |
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const pad = 100 |
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const WIDTH = 1280 |
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const HEIGHT = 720 |
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const MAX_FRUIT = 10 |
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var _bounds := Rect2(pad, pad, WIDTH - 2 * pad, HEIGHT - 2 * pad) |
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@export var speed := 500 |
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@export var friction = 0.18 |
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var _velocity := Vector2.ZERO |
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var _action = Vector2.ZERO |
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@onready var fruit = $"../Fruit" |
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@onready var raycast_sensor = $"RaycastSensor2D" |
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@onready var walls := $"../Walls" |
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@onready var colision_shape := $"CollisionShape2D" |
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@onready var ai_controller := $AIController2D |
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var fruit_just_entered = false |
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var just_hit_wall = false |
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var best_fruit_distance = 10000.0 |
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var fruit_count = 0 |
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func _ready(): |
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ai_controller.init(self) |
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raycast_sensor.activate() |
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func _physics_process(_delta): |
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var direction = get_direction() |
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if direction.length() > 1.0: |
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direction = direction.normalized() |
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# Using the follow steering behavior. |
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var target_velocity = direction * speed |
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_velocity += (target_velocity - _velocity) * friction |
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set_velocity(_velocity) |
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move_and_slide() |
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_velocity = velocity |
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update_reward() |
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if Input.is_action_just_pressed("r_key"): |
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game_over() |
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func game_over(): |
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fruit_just_entered = false |
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just_hit_wall = false |
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fruit_count = 0 |
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_velocity = Vector2.ZERO |
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_action = Vector2.ZERO |
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position = _calculate_new_position() |
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spawn_fruit() |
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best_fruit_distance = position.distance_to(fruit.position) |
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ai_controller.reset() |
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func _calculate_new_position(current_position: Vector2 = Vector2.ZERO) -> Vector2: |
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var new_position := Vector2.ZERO |
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new_position.x = randf_range(_bounds.position.x, _bounds.end.x) |
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new_position.y = randf_range(_bounds.position.y, _bounds.end.y) |
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if (current_position - new_position).length() < 4.0 * colision_shape.shape.get_radius(): |
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return _calculate_new_position(current_position) |
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var radius = colision_shape.shape.get_radius() |
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var rect = Rect2(new_position - Vector2(radius, radius), Vector2(radius * 2, radius * 2)) |
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for wall in walls.get_children(): |
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#wall = wall as Area2D |
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var cr = wall.get_node("ColorRect") |
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var rect2 = Rect2(cr.get_position() + wall.position, cr.get_size()) |
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if rect.intersects(rect2): |
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return _calculate_new_position() |
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return new_position |
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func get_direction(): |
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if ai_controller.done: |
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_velocity = Vector2.ZERO |
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return Vector2.ZERO |
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if ai_controller.heuristic == "model": |
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return _action |
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var direction := Vector2( |
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Input.get_action_strength("move_right") - Input.get_action_strength("move_left"), |
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Input.get_action_strength("move_down") - Input.get_action_strength("move_up") |
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) |
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return direction |
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func get_fruit_position(): |
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return $"../Fruit".global_position |
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func update_reward(): |
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ai_controller.reward -= 0.01 # step penalty |
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ai_controller.reward += shaping_reward() |
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func shaping_reward(): |
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var s_reward = 0.0 |
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var fruit_distance = position.distance_to(fruit.position) |
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if fruit_distance < best_fruit_distance: |
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s_reward += best_fruit_distance - fruit_distance |
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best_fruit_distance = fruit_distance |
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s_reward /= 100.0 |
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return s_reward |
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func spawn_fruit(): |
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fruit.position = _calculate_new_position(position) |
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best_fruit_distance = position.distance_to(fruit.position) |
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func fruit_collected(): |
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fruit_just_entered = true |
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ai_controller.reward += 10.0 |
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fruit_count += 1 |
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spawn_fruit() |
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func wall_hit(): |
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ai_controller.done = true |
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ai_controller.reward -= 10.0 |
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just_hit_wall = true |
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game_over() |
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func _on_Fruit_body_entered(_body): |
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fruit_collected() |
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func _on_LeftWall_body_entered(_body): |
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wall_hit() |
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func _on_RightWall_body_entered(_body): |
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wall_hit() |
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func _on_TopWall_body_entered(_body): |
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wall_hit() |
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func _on_BottomWall_body_entered(_body): |
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wall_hit() |
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