public override void AgentAction(float[] vectorAction, string textAction)
{
Vector3 relativePosition = Target.transform.localPosition - this.transform.localPosition;
float arcTanToTar = Mathf.Atan(relativePosition.z / relativePosition.x) * 180 / Mathf.PI;
float relativeRotation = 0;
if (relativePosition.x > 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar));
}
else if (relativePosition.x < 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x < 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x > 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar));
}
relativeRotation = relativeRotation - this.transform.rotation.eulerAngles.y;
if (relativeRotation > 180)
{
relativeRotation = relativeRotation - 360;
}
else if (relativeRotation < -180)
{
relativeRotation = relativeRotation + 360;
}
float absReRo = Mathf.Abs(relativeRotation);
timer += Time.deltaTime;
float directionX = 0;
float directionZ = 0;
float directionY = 0;
float rotataionY = 0;
rotataionY = vectorAction[0];
directionY = Mathf.Clamp(vectorAction[2], -1f, 1f);
directionZ = Mathf.Clamp(vectorAction[1], -1f, 1f);
directionX = Mathf.Clamp(vectorAction[3], -1f, 1f);
//gameObject.GetComponent<Rigidbody>().AddRelativeForce(new Vector3(directionZ*100, directionY* 100, directionX* 100));
float distanceToTarget = Vector3.Distance(this.transform.localPosition,
Target.localPosition);
//print(relativeRotation);
//if (relativeRotation < 0 && Mathf.Abs(relativeRotation) > 3)
//{
// DM.Rotation(-0.1f);
//}
//else if (relativeRotation > 0 && Mathf.Abs(relativeRotation) > 3)
//{
// DM.Rotation(0.1f);
//}
//if (Target.transform.position.y > this.transform.position.y)
//{
// DM.PropellerForce(directionZ, 0, 0.5f);
//}
//else if (Target.transform.position.y < this.transform.position.y)
//{
// DM.PropellerForce(directionZ, 0, 0.3f);
//}
//if(absReRo > 90){
// AddReward(-0.001f*absReRo);
//}
//print(DM.AutoMove + " " + directionZ + " " + directionX);
DM.Rotation(rotataionY);
DM.PropellerForce(directionZ, directionX, directionY);
DM.MovemenForward(directionZ, directionX, directionY);
DM.Swerve(directionZ, directionX);
if (this.transform.position.y > 50)
{
AddReward(-0.01f * (this.transform.position.y - 50 + 1));
}
AddReward(0.1f / (distanceToTarget + 1));
AddReward(0.0001f * (mindis - distanceToTarget));
if (distanceToTarget < mindis)
{
mindis = distanceToTarget;
}
AddReward(0.0001f * (minRo - absReRo));
if (absReRo < minRo)
{
minRo = absReRo;
}
if (absReRo > 100 && distanceToTarget > 1)
{
AddReward(-0.7f);
}
AddReward(-0.0001f * timer);
//if (absReRo < previousRotation)
//{
// AddReward(0.0001f);
//}
//if (absReRo > previousRotation)
//{
// AddReward(-0.0001f);
//}
//if(distanceToTarget > previousDistance){
// AddReward(-0.003f);
//}
// if (this.transform.position.y < -3.0 ||
// this.transform.position.y > 60
// ||
// Mathf.Abs(this.transform.localPosition.z) > 180||
// Mathf.Abs(this.transform.localPosition.x) > 180
// )
//{
// SetReward(-60f);
// //resetTarget();
// timer = 0;
// t = 0;
// Done();
//}
//if (timer > 30+failcount * 2)
//{
// AddReward(-40f);
// timer = 0;
// t = 0;
// failcount += 1;
// Done();
// resetTarget();
// //AddReward(-0.00001f * Mathf.Pow((timer - 30), 2));
//}
if (failcount > 5)
{
resetTarget();
failcount = 0;
}
//if (timer > 50)
//{
//resetTarget();
//timer = 0;
//t = 0;
//SetReward(-60f);
//Done();
//}
//print(rBody.velocity);
previousDistance = distanceToTarget;
previousRotation = absReRo;
//print(timer);
//print(GetReward());
print(counter + " " + goalCounter + " " + collcount + " " + TotalTime + " " + GetReward());
}
public override void AgentAction(float[] vectorAction, string textAction)
{
Vector3 relativePosition = Target.transform.localPosition - this.transform.localPosition;
float arcTanToTar = Mathf.Atan(relativePosition.z / relativePosition.x) * 180 / Mathf.PI;
float relativeRotation = 0;
if (relativePosition.x > 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar));
}
else if (relativePosition.x < 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x < 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x > 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar));
}
relativeRotation = relativeRotation - this.transform.rotation.eulerAngles.y;
if (relativeRotation > 180)
{
relativeRotation = relativeRotation - 360;
}
else if (relativeRotation < -180)
{
relativeRotation = relativeRotation + 360;
}
float absReRo = Mathf.Abs(relativeRotation);
float directionX = 0;
float directionZ = 0;
float directionY = 0;
float rotataionY = 0;
rotataionY = vectorAction[0];
directionY = Mathf.Clamp(vectorAction[2], -1f, 1f);
directionZ = Mathf.Clamp(vectorAction[1], -1f, 1f);
//directionX = Mathf.Clamp(vectorAction[3], -1f, 1f);
//print(" "+ directionZ + " " + directionX);
//gameObject.GetComponent<Rigidbody>().AddRelativeForce(new Vector3(directionZ*100, directionY* 100, directionX* 100));
float distanceToTarget = Vector3.Distance(this.transform.localPosition,
Target.localPosition);
//print(relativeRotation);
DM.Rotation(rotataionY);
DM.PropellerForce(directionZ, directionX, directionY);
DM.Swerve(directionZ, directionX, directionY);
DM.MovemenForward(directionZ, directionX, directionY);
if (relativeRotation < 0 && Mathf.Abs(relativeRotation) > 3)
{
DM.Rotation(-0.3f);
}
else if (relativeRotation > 0 && Mathf.Abs(relativeRotation) > 3)
{
DM.Rotation(0.3f);
}
if (Target.transform.position.y > this.transform.position.y && Mathf.Abs(Target.transform.position.y - this.transform.position.y) > 0.3f)
{
DM.PropellerForce(directionZ, 0, 0.6f);
}
else if (Target.transform.position.y < this.transform.position.y && Mathf.Abs(Target.transform.position.y - this.transform.position.y) > 0.3f)
{
DM.PropellerForce(directionZ, 0, 0.3f);
}
else
{
DM.PropellerForce(directionZ, 0, 0.412f);
}
//if (distanceToTarget < previousDistance)
//{
// AddReward(0.001f * Mathf.Pow(Mathf.Pow(rBody.velocity.z, 2) + Mathf.Pow(rBody.velocity.x, 2), 0.5f));
// //if (2f < previousDistance - distanceToTarget)
// //{
// // AddReward(0.0005f);
// //}
//}
AddReward(0.01f / (distanceToTarget + 1));
//print(distanceToTarget);
AddReward(-0.001f * absReRo);
if (this.transform.position.y < 1)
{
AddReward(-0.5f);
}
AddReward(-0.01f * (distanceToTarget - previousDistance));
//if ((this.transform.position.y < -1.0 ||
// this.transform.position.y > 100
// ||
// Mathf.Abs(this.transform.localPosition.z) > planeL/2 + 5 ||
// Mathf.Abs(this.transform.localPosition.x) > planeW/2 + 5
// )&& !notTraining)
//{
// SetReward(-1f);
// resetTarget();
// timer = 0;
// Done();
//}
//if (t > 35 && !notTraining)
//{
// resetTarget();
// timer = 0;
// t = 0;
// SetReward(-1f);
// Done();
//}
//print(rBody.velocity);
previousDistance = distanceToTarget;
previousRotation = absReRo;
//print(timer);
//print(GetReward());
t += Time.deltaTime;
//print(t + " " + distanceToTarget);
}
public override void AgentAction(float[] vectorAction, string textAction)
{
Vector3 relativePosition = Target.transform.localPosition - this.transform.localPosition;
float arcTanToTar = Mathf.Atan(relativePosition.z / relativePosition.x) * 180 / Mathf.PI;
float relativeRotation = 0;
if (relativePosition.x > 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar));
}
else if (relativePosition.x < 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x < 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x > 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar));
}
relativeRotation = relativeRotation - this.transform.rotation.eulerAngles.y;
if (relativeRotation > 180)
{
relativeRotation = relativeRotation - 360;
}
else if (relativeRotation < -180)
{
relativeRotation = relativeRotation + 360;
}
float absReRo = Mathf.Abs(relativeRotation);
timer += Time.deltaTime;
float directionX = 0;
float directionZ = 0;
float directionY = 0;
float rotataionY = 0;
rotataionY = vectorAction[0];
directionY = Mathf.Clamp(vectorAction[2], -1f, 1f);
directionZ = Mathf.Clamp(vectorAction[1], -1f, 1f);
directionX = Mathf.Clamp(vectorAction[3], -1f, 1f);
//gameObject.GetComponent<Rigidbody>().AddRelativeForce(new Vector3(directionZ*100, directionY* 100, directionX* 100));
float distanceToTarget = Vector3.Distance(this.transform.localPosition,
Target.localPosition);
//print(relativeRotation);
//if (relativeRotation < 0 && Mathf.Abs(relativeRotation) > 3)
//{
// DM.Rotation(-0.1f);
//}
//else if (relativeRotation > 0 && Mathf.Abs(relativeRotation) > 3)
//{
// DM.Rotation(0.1f);
//}
//if (Target.transform.position.y > this.transform.position.y)
//{
// DM.PropellerForce(directionZ, 0, 0.5f);
//}
//else if (Target.transform.position.y < this.transform.position.y)
//{
// DM.PropellerForce(directionZ, 0, 0.3f);
//}
//print(DM.AutoMove + " " + directionZ + " " + directionX);
DM.Rotation(rotataionY);
DM.PropellerForce(directionZ, directionX, directionY);
DM.MovemenForward(directionZ, directionX, directionY);
DM.Swerve(directionZ, directionX);
//if (distanceToTarget < previousDistance)
//{
// AddReward(0.001f * Mathf.Pow(Mathf.Pow(rBody.velocity.z, 2) + Mathf.Pow(rBody.velocity.x, 2), 0.5f));
// if (5f < previousDistance - distanceToTarget)
// {
// AddReward(0.005f);
// }
//}
if (this.transform.position.y > 50)
{
AddReward(-0.01f * (this.transform.position.y - 50 + 1));
}
AddReward(0.01f / (distanceToTarget + 1));
//if(distanceToTarget > previousDistance){
// AddReward(-0.1f * (distanceToTarget - previousDistance));
//}
AddReward(-0.01f * (distanceToTarget - previousDistance));
AddReward(-0.0001f * timer);
//if(absReRo > 90){
// AddReward(-0.001f * absReRo);
//}
if (this.transform.position.y < 1)
{
AddReward(-0.5f);
}
//if (absReRo < previousRotation)
//{
// AddReward(0.0001f);
//}
//if (absReRo > previousRotation)
//{
// AddReward(-0.0001f);
//}
//if(distanceToTarget > previousDistance){
// AddReward(-0.003f);
//}
if (this.transform.position.y < -1.0 ||
this.transform.position.y > 200
||
Mathf.Abs(this.transform.localPosition.z) > 150 ||
Mathf.Abs(this.transform.localPosition.x) > 50 ||
this.transform.localPosition.z < -10
)
{
SetReward(-5f);
resetTarget();
timer = 0;
t = 0;
Done();
}
if (timer > 30)
{
resetTarget();
timer = 0;
t = 0;
SetReward(-3f);
Done();
}
//print(rBody.velocity);
previousDistance = distanceToTarget;
previousRotation = absReRo;
//print(timer);
//print(GetReward());
print(counter + " " + goalCounter + " " + TotalTime);
}
public override void AgentAction(float[] vectorAction, string textAction)
{
Vector3 relativePosition = Target.transform.localPosition - this.transform.localPosition;
float arcTanToTar = Mathf.Atan(relativePosition.z / relativePosition.x) * 180 / Mathf.PI;
float relativeRotation = 0;
if (relativePosition.x > 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar));
}
else if (relativePosition.x < 0 && relativePosition.z > 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x < 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar)) + 180;
}
else if (relativePosition.x > 0 && relativePosition.z < 0)
{
relativeRotation = (90 - (arcTanToTar));
}
relativeRotation = relativeRotation - this.transform.rotation.eulerAngles.y;
if (relativeRotation > 180)
{
relativeRotation = relativeRotation - 360;
}
else if (relativeRotation < -180)
{
relativeRotation = relativeRotation + 360;
}
float absReRo = Mathf.Abs(relativeRotation);
timer += Time.deltaTime;
float directionX = 0;
float directionZ = 0;
float directionY = 0;
float rotataionY = 0;
//print(DM.MLAgent +" "+ directionZ + " " + directionX);
float distanceToTarget = Vector3.Distance(this.transform.localPosition,
Target.localPosition);
rotataionY = vectorAction[0];
directionY = Mathf.Clamp(vectorAction[2], -1f, 1f);
directionZ = Mathf.Clamp(vectorAction[1], -1f, 1f);
//directionX = Mathf.Clamp(vectorAction[0], -1f, 1f);
//print(relativeRotation);
if (Target.transform.position.y > this.transform.position.y)
{
DM.PropellerForce(directionZ, 0, 0.5f);
}
else if (Target.transform.position.y < this.transform.position.y)
{
DM.PropellerForce(directionZ, 0, 0.3f);
}
DM.Rotation(rotataionY);
//DM.Swerve(directionZ, directionX, directionY);
DM.PropellerForce(directionZ, directionX, directionY);
DM.MovemenForward(directionZ, directionX, directionY);
//if(absReRo < previousRotation){
// AddReward(0.01f);
//}
//if (absReRo < 1)
//{
// AddReward(0.1f);
//}else if ((relativeRotation < 0 && relativeRotation > -180) || relativeRotation > 180)
//{
// if(rotataionY < 0){
// DM.Rotation(rotataionY);
// }
//}else if((relativeRotation > 0 && relativeRotation < 180) || relativeRotation < -180){
// if (rotataionY > 0)
// {
// DM.Rotation(rotataionY);
// }
//}
if (distanceToTarget < previousDistance)
{
AddReward(0.001f * Mathf.Pow(Mathf.Pow(rBody.velocity.z, 2) + Mathf.Pow(rBody.velocity.x, 2), 0.5f));
if (5f < previousDistance - distanceToTarget)
{
AddReward(0.005f);
}
}
AddReward(0.1f / (distanceToTarget + 1));
if (distanceToTarget > previousDistance)
{
AddReward(-0.01f * (distanceToTarget - previousDistance + 1));
}
AddReward(-0.0001f * timer);
if (absReRo > 90)
{
AddReward(-0.001f * absReRo);
}
if (this.transform.position.y < 1)
{
AddReward(-0.5f);
}
//if (absReRo < previousRotation)
//{
// AddReward(0.0001f);
//}
//if (absReRo > previousRotation)
//{
// AddReward(-0.0001f);
//}
//if(distanceToTarget > previousDistance){
// AddReward(-0.003f);
//}
if (this.transform.position.y < -1.0 ||
this.transform.position.y > 1000
||
Mathf.Abs(this.transform.localPosition.z) > planeL ||
Mathf.Abs(this.transform.localPosition.x) > planeW + 5 ||
this.transform.localPosition.z < -10
)
{
SetReward(-3f);
resetTarget();
timer = 0;
Done();
}
if (timer > 30)
{
resetTarget();
timer = 0;
SetReward(-3f);
Done();
}
//print(rBody.velocity);
previousDistance = distanceToTarget;
previousRotation = absReRo;
//print(timer);
//print(GetReward());
print(counter + " " + goalCounter);
}