private void _ThrowingManagment()
{
if (_thrower.IsReady())
{
List <TrajectoryData> collectedData = _thrower.CollectTrajecoryData();
if (collectedData.Count > 0)
{
float throwDistance;
var directionToLern = dataProcessor.findOptimalThrowDirection(collectedData, target, LastThrowDirection, out throwDistance);
_deviationFactor = (float)Sigmoid.Output((double)throwDistance * 0.5 - 2) * 0.4f;
var ppDirToLern = (directionToLern + Vector3.one) * 0.5f;
if (!_first)
{
neuralService.NetAdaptation(_lastThrowPosition, target.GetTargetCords(), ppDirToLern);
}
}
var throwPosition = _thrower.GetThrowPosition();
var calcualtedDirection = neuralService.CalculateThrowDirection(throwPosition, target.GetTargetCords());
var ppDir = calcualtedDirection * 2 - Vector3.one;
_thrower.DataGatteringThrow(ppDir, _deviationFactor);
LastThrowDirection = ppDir;
_lastThrowPosition = throwPosition;
_first = false;
}
}
public Vector3 findOptimalThrowDirection(List <TrajectoryData> trajectoryList, BallTarget target, Vector3 throwDirection, out float throwDistance)
{
Vector3 targetPosition = target.GetTargetCords();
Vector3 optimalDirection = Vector3.zero;
throwDistance = 0;
bool first = true;
foreach (var trajectory in trajectoryList)
{
float performanceIndex = 0;
float minialDistance = 1000;
trajectory.trajectoryPoints.ForEach(p =>
{
var distToTarget = Vector3.Distance(p, targetPosition);
minialDistance = Mathf.Min(distToTarget, minialDistance);
performanceIndex += distToTarget * Time.fixedDeltaTime;
});
if (trajectory.direction == throwDirection)
{
throwPerformanceIndex = performanceIndex;
throwDistance = minialDistance;
continue;
}
if (first)
{
first = false;
theHighestPerformanceIndex = performanceIndex;
theLowestPerformanceIndex = performanceIndex;
continue;
}
if (performanceIndex < theHighestPerformanceIndex)
{
theHighestPerformanceIndex = performanceIndex;
theNearestBasketDistance = minialDistance;
optimalDirection = trajectory.direction;
}
if (performanceIndex > theLowestPerformanceIndex)
{
theLowestPerformanceIndex = performanceIndex;
}
}
Debug.Log($"{theHighestPerformanceIndex}, {theNearestBasketDistance}");
if (theHighestPerformanceIndex < theHighestPerformaceAchived)
{
theHighestPerformaceAchived = theHighestPerformanceIndex;
ultimateDirection = optimalDirection;
}
return(ultimateDirection);
}