/// <summary>
/// Apply an agent command to the character
/// </summary>
/// <returns>An observation after the action has been applied</returns>
public Observation ProcessCommand(Command c, int gameTick, NavMeshContainer nav)
{
if (gameTick % 199 == 0)
{
_Character.SwitchCircleDirection();
}
switch (c.cmd)
{
case AgentCommandType.DONOTHING:
break;
case AgentCommandType.MOVETOWARD:
AgentCommand <Tuple <Vector3, bool> > move = c as AgentCommand <Tuple <Vector3, bool> >;
MoveToward(move.arg.object1, move.arg.object2);
break;
case AgentCommandType.INTERACT:
AgentCommand interact = c as AgentCommand;
string interactWith = interact.targetId;
GameObject.Find(interactWith).GetComponent <Sensor>().Trigger();
break;
}
observation.Observe(_Character, gameTick, nav, c.cmd);
return(observation);
}
/// <summary>
/// Returns the indices of vertices that are visible from a character's eye height.
/// </summary>
/// <param name="character">The character as a reference point</param>
public int[] GetAllVisibleVertexIndices(Character character, NavMeshContainer nav)
{
Vector3 eyePosition = agentPosition + character.relativeEyePosition;
var colliders = GetNearbyBoundsColliders(eyePosition, character.viewDistanceSqr);
List <int> visibleVertexIndices = new List <int>();
for (int i = 0; i < nav.vertices.Length; i++)
{
Vector3 v = nav.vertices[i];
v.y += Constants.epsilon;
Vector3 diff = v - eyePosition;
if (diff.sqrMagnitude >= character.viewDistanceSqr)
{
continue; // If the vertex is outside the character's vision radius
}
if (colliders.Any(c => c.Contains(v)))
{
continue; // If the vertex is covered by any collider
}
if (Physics.Raycast(eyePosition, diff, diff.magnitude))
{
continue; // If the vertex is behind another object
}
visibleVertexIndices.Add(i);
}
return(visibleVertexIndices.ToArray());
}
/// <summary>
/// Records the current state of the world from the perspective of a Character
/// </summary>
public void Observe(Character character, int gameTick, NavMeshContainer nav, AgentCommandType usedAction)
{
agentPosition = character.transform.position;
tick = gameTick;
didNothing = usedAction == AgentCommandType.DONOTHING;
entities.Clear();
AddAllVisibleObjects(character);
navMeshIndices = GetAllVisibleVertexIndices(character, nav);
}
public static Observation FromCharacter(string agentID, Character character, int gameTick, NavMeshContainer nav, AgentCommandType usedAction)
{
Observation obs = new Observation(agentID);
obs.Observe(character, gameTick, nav, usedAction);
return(obs);
}
