public bool assign(RollerAgent agent)
{
//print("Agente counter :"+ agentCount.ToString());
//print("agent_assigned");
agentlist.Add(agent);
return(true);
}
// Start is called before the first frame update
void Start()
{
rollerAgent = rollerAgentObject.GetComponent <RollerAgent>();
rollerAgent.arenaPosition = transform.position;
rollerAgent.target1 = target1Object;
rollerAgent.target2 = target2Object;
rollerAgent.target3 = target3Object;
}
void Start()
{
var playerObj = GameObject.FindGameObjectWithTag("Player");
player = playerObj.GetComponent <RollerAgent>();
agent = GetComponent <NavMeshAgent>();
enemyScore = 0;
SetEnemyScoreText();
}
private void Start()
{
rollerAgentObject = Instantiate(rollerAgentPrefab,
new Vector3(0, transform.position.y + 0.5f, 0),
Quaternion.identity);
rollerAgent = rollerAgentObject.GetComponent <RollerAgent>();
rollerAgent.arenaPosition = transform.position;
target1Object = Instantiate(target1Prefab);
target2Object = Instantiate(target2Prefab);
target3Object = Instantiate(target3Prefab);
rollerAgent.target1 = target1Object;
rollerAgent.target2 = target2Object;
rollerAgent.target3 = target3Object;
}
private void GetConfigParams()
{
string configString = Resources.Load <TextAsset>(configFileName).ToString();
// string configString = System.IO.File.ReadAllText(Application.dataPath + "/Config/" + configFileName + ".json");
ConfigJson obj = JsonUtility.FromJson <ConfigJson>(configString);
// Read config associated with executed mode
if (RollerAgent.IsSimulationMode())
{
numObstaclesArray = obj.simulation.numObstacles;
Debug.Log("simulation");
}
else
{
numObstaclesArray = obj.training.numObstacles;
Debug.Log("taining");
}
}
public override void OnActionReceived(float[] vectorAction)
{
//base.OnActionReceived(vectorAction);
dist_score = Vector3.Distance(transform.localPosition, target.transform.localPosition) / 142f;
AddReward(-(1.0f / MaxStep));
//health -= 0.01f;
MoveAgent(vectorAction);
if (isCollidingWithWall)
{
//AddReward(-0.5f );
}
float distanceToTarget = Vector3.Distance(this.transform.localPosition, target.localPosition);
// Todo: Make this more scalable (e.g. use colliders)
if (distanceToTarget < (1.42f * transform.localScale.x))
{
if (target.gameObject.tag == "Species1")
{
RollerAgent targetAgent = target.gameObject.GetComponent <RollerAgent>();
if (targetAgent != null)
{
targetAgent.Eaten();
}
}
health = 100;
AddReward(1.0f);
EndEpisode();
}
// Fell off platform or starved
if (this.transform.localPosition.y < 0)
{
AddReward(-1.0f);
EndEpisode();
}
}
void Start()
{
rb = GetComponent <Rigidbody>();
agent = GetComponent <RollerAgent>();
waypoints = GetComponent <Waypoints>();
distancesVector = new float[n_scans + 4];
distancesToWallsVector = new float[5];
for (int i = 0; i < distancesVector.Length; i++)
{
distancesVector[0] = float.MaxValue;
}
tagLabels = new List <int>();
hitPoints = new List <RaycastHit>();
//prepare rotation matrices
Quaternion q = Quaternion.AngleAxis(-FOV, Vector3.up);
Quaternion q2 = Quaternion.AngleAxis(FOV, Vector3.up);
rotateM = Matrix4x4.Rotate(q);
rotateM2 = Matrix4x4.Rotate(q2);
targetWaypoint = GameObject.Find("S").transform;
dieingWaypoint = GameObject.Find("S").transform;
}
void OnCollisionEnter(Collision obj)
{
if (obj.gameObject.CompareTag("Player"))
{
player = obj.gameObject.GetComponent <RollerAgent>();
var forceVec = -obj.gameObject.GetComponent <Rigidbody>().velocity.normalized * 250f;
if (player.getScore() > getScore())
{
obj.gameObject.GetComponent <Rigidbody>().AddForce(-forceVec, ForceMode.Force);
enemyScore++;
}
else
{
agent.enabled = false;
var rigidbody = GetComponent <Rigidbody>();
rigidbody.isKinematic = false;
rigidbody.AddForce(forceVec, ForceMode.Force);
Invoke("EnableNavMesh", 1F);
enemyScore--;
}
SetEnemyScoreText();
}
}
// Update is called once per frame
void Update()
{
bool allBelow = true;
var pickUpsArray = GameObject.FindGameObjectsWithTag("Pick Up");
foreach (GameObject pickUp in pickUpsArray)
{
if (pickUp.transform.position.y > 0)
{
allBelow = false;
}
}
if (allBelow)
{
RollerAgent player = GameObject.FindObjectOfType <RollerAgent>();
EnemyController enemy = GameObject.FindObjectOfType <EnemyController>();
if (player.getScore() > enemy.getScore())
{
gameOverText.text = "You Win!";
}
else if (player.getScore() == enemy.getScore())
{
gameOverText.text = "It's a Draw!";
}
else
{
gameOverText.text = "You lost...";
}
//Time.timeScale = 0;
}
else
{
gameOverText.text = "";
}
}
void Start()
{
rg = GetComponent <RollerAgent>();
}
