public static float Calculate(CollectorAgent collectorAgent, int maxSteps)
{
return((DeathReward(collectorAgent)
+ StepReward(collectorAgent)
+ HpReward(collectorAgent)
) / maxSteps);
}
private void HpDecay(CollectorAgent collectorAgent, int maxSteps)
{
if (collectorAgent.Collector.IsDead)
{
return;
}
collectorAgent.Collector.hp -= collectorInitialHp * 2 / maxSteps;
}
public static void ProcessMe(CollectorAgent agent)
{
var reward = CollectorRewardFunction.Calculate(agent, 3000);
if (Math.Abs(reward) > 0.0001f)
{
agent.AddReward(reward);
}
}
void Start()
{
agent = gameObject.GetComponentInChildren <CollectorAgent>();
targets = gameObject.GetComponentsInChildren <BaseTarget>().ToList();
goal = gameObject.GetComponentInChildren <BaseGoal>();
SetResourceRequirements();
SetAgentTarget();
}
private static float StepReward(CollectorAgent collectorAgent)
{
if (collectorAgent.Collector.IsDead)
{
return(0f);
}
return(-1F);
}
private static float DeathReward(CollectorAgent collectorAgent)
{
if (!collectorAgent.Collector.IsDead)
{
return(0f);
}
return(-5F);
}
private static float HpReward(CollectorAgent collectorAgent)
{
if (collectorAgent.Collector.IsDead)
{
return(0f);
}
var hp = collectorAgent.Collector.hp;
return(hp / 10);
}
// Update is called once per frame
void Update()
{
cool -= Time.deltaTime;
if (cool <= 0)
{
cool += timeToSpawn;
NavMeshHit hit;
if (NavMesh.SamplePosition(new Vector3(
Mathf.Lerp(bounds.xMin, bounds.xMax, Random.value),
0,
Mathf.Lerp(bounds.yMin, bounds.yMax, Random.value)
), out hit, 1000, NavMesh.AllAreas))
{
GameObject food = Instantiate(foodPrefab);
food.transform.position = hit.position;
float minDist = Mathf.Infinity;
CollectorAgent closest = null;
foreach (CollectorAgent agent in agents)
{
NavMeshPath path = new NavMeshPath();
NavMesh.CalculatePath(agent.transform.position, food.transform.position, NavMesh.AllAreas, path);
float thisDist = pathLength(path);
if (agent.target == null && thisDist < minDist)
{
minDist = thisDist;
closest = agent;
}
}
if (closest != null)
{
closest.target = food;
}
else
{
Destroy(food);
}
}
}
}
