public override void AgentStep(float[] action)
{
myStepCountInLastSession++;
reward = -0.005f;
rocket.UpdateEngineForceDirections();
if (paramsText1 != null && Time.frameCount % 15 == 0)
{
paramsText1.text = string.Format("Success:{0},Fail:{1},stp:{2},",
solved, failed, myStepCountInLastSession);
paramsText3.text = string.Format("Fail: Position:{0}, Accident:{1}, Speed:{2}, Rotation:{3}",
failCounterPosition, failCounterAccident, failCounterSpeed, failCounterRotation);
}
// ----------------------------------------------------------------------------------------
// Movement
// ----------------------------------------------------------------------------------------
switch ((int)action[0])
{
case 0:
// do nothing - engine is off - rocket falls down
break;
case 1:
// power on engine - rocket moves up
rocket.EngineMainEmitBurst();
audioControl.PlaySfxMainEngine();
break;
case 2:
// left engine on
rocket.EngineDownLeftEmitBurst();
audioControl.PlaySfxSideEngine();
break;
case 3:
// right engine on
rocket.EngineDownRightEmitBurst();
audioControl.PlaySfxSideEngine();
break;
case 4:
// right engine on
rocket.EngineStopEmitBurst();
audioControl.PlaySfxSideEngine();
break;
case 5:
rocket.EngineUpLeftEmitBurst();
audioControl.PlaySfxSideEngine();
break;
case 6:
rocket.EngineUpRightEmitBurst();
audioControl.PlaySfxSideEngine();
break;
default:
break;
}
// ----------------------------------------------------------------------------------------
// Reward \ Punish
// ----------------------------------------------------------------------------------------
//// Small punishments\rewards, disabled in this version
//float targetingAngle = rocket.GetTargetingAngle(planet2.gameObject);
////Debug.Log("Targeting angle: " + targetingAngle);
//const float ALLOWED_ANGLE_DEVIATION = 20; // degrees
//const float GRAVITY_RANGE_PLANET_1 = 6;
//// 1) Add small punishment if rocket is in gravity range of planet 1
//if (Vector3.Distance(rocket.transform.position, planet1.transform.position) < GRAVITY_RANGE_PLANET_1)
//{
// reward += -0.005f;
//}
//// 2) Add small punishment if rocket's landing angle (rocket's orientation) for target
//// planet is more then DELTA
//// we need angle close to 180 degrees
//else if (Math.Abs(targetingAngle - 180) > ALLOWED_ANGLE_DEVIATION)
//{
// // punish if angle deviation is to big
// reward += -0.005f;
//}
//// 3) punish if speed is to high
////if (!IsRocketSpeedOk())
////{
//// reward += -0.05f;
//// //failed++;
//// //reward = -1f;
//// //done = true;
//// //ResetObjectsPosInScene();
//// //UpdateSessionReward();
//// //PrintEndSessionReward(false);
//// //return;
////}
// ---------------------------------- FAILURE ---------------------------------------------
if (rocket.GetLocalPosY() < failureBorderBottom ||
rocket.GetLocalPosY() > failureBorderTop ||
rocket.GetLocalPosX() > failureBorderRight ||
rocket.GetLocalPosX() < failureBorderLeft)
{
failed++;
reward = -1f;
done = true;
failCounterPosition++;
Debug.Log("Fail: position: " + failCounterPosition);
ShowFailText("Fail: position");
previousDistanceToTarget = GetDistanceToTarget();
/**
* This is required to reset rocket rotation when switching to a new session - when
* rocket moves into left or right vertical wall (presumably at a high speed) and
* forward button (main engine) is pressed - the session is over with a failure (that
* is expected), but the new session is started with rocket rotating around z-axis
* rapidly - it looks like in this case Agent.Reset() logic is not enough... Why?
*
* Workaround: Adding rocket.Reset() here fixes this issue.
*/
ResetObjectsPosInScene();
UpdateSessionReward();
PrintEndSessionReward(false);
return;
}
if (rocket.AccidentOccured())
{
failed++;
reward = -1f;
done = true;
failCounterAccident++;
audioControl.PlaySfxAccident();
Debug.Log("Fail: accident: " + failCounterAccident);
ShowFailText("Fail: accident");
ResetObjectsPosInScene();
UpdateSessionReward();
PrintEndSessionReward(false);
return;
}
if (!IsPlayerBrain() && !IsRocketSpeedOk())
{
failed++;
reward = -1f;
done = true;
failCounterSpeed++;
Debug.Log("Fail: speed: " + failCounterSpeed);
ShowFailText("Fail: speed");
ResetObjectsPosInScene();
UpdateSessionReward();
PrintEndSessionReward(false);
return;
}
if (!IsPlayerBrain() && Math.Abs(rocket.GetAngularVelocityZ()) > 0.8)
{
failed++;
reward = -1f;
done = true;
failCounterRotation++;
Debug.Log("Fail: angular velocity: " + failCounterRotation);
ShowFailText("Fail: rotation speed");
ResetObjectsPosInScene();
UpdateSessionReward();
PrintEndSessionReward(false);
return;
}
// ------------------------------------- SUCCESS ------------------------------------------
if (rocket.IsOnPlanet() && IsRocketSpeedOk())
{
reward = 1;
solved++;
done = true;
ShowSuccessText();
previousDistanceToTarget = GetDistanceToTarget();
ResetObjectsPosInScene();
UpdateSessionReward();
PrintEndSessionReward(true);
return;
}
previousDistanceToTarget = GetDistanceToTarget();
UpdateSessionReward();
}