public override void CollectObservations(VectorSensor sensor)
{
Vector3 pos = transform.position;
m_Road.Find(pos, out m_RoadPosition, out m_RoadForward);
Vector3 delta = pos - m_RoadPosition;
float anglePos = Vector3.SignedAngle(m_RoadForward, delta, Vector3.up);
sensor.AddObservation(Mathf.Clamp(anglePos / 90f, -1f, 1f));
sensor.AddObservation(Sigmoid(delta.sqrMagnitude) * Mathf.Sign(anglePos));
float angleFwd = Vector3.SignedAngle(m_RoadForward, transform.forward, Vector3.up);
sensor.AddObservation(angleFwd / 180f);
Vector3 localVelocity = m_Physics.Localize(m_Physics.Velocity);
sensor.AddObservation(Sigmoid(localVelocity.x));
sensor.AddObservation(Sigmoid(localVelocity.y));
// Forward speed 0 - 50.
// http://fooplot.com/#W3sidHlwZSI6MCwiZXEiOiIoeCowLjEpLygxK2FicygoeCowLjEpKSkqMi40LTEiLCJjb2xvciI6IiMwMDAwMDAifSx7InR5cGUiOjEwMDAsIndpbmRvdyI6WyItMjAuODc5NjU3NDUxOTIzMDciLCI3MC42NzMwNzY5MjMwNzY4OCIsIi0zLjg0NDI5OTMxNjQwNjI0NzMiLCI1LjMxMDk3NDEyMTA5Mzc0NjQiXX1d
sensor.AddObservation(Mathf.Clamp(
Sigmoid(localVelocity.z, 0.1f) * 2.4f - 1f, -1f, 1f));
sensor.AddObservation(m_Physics.Inclination);
sensor.AddObservation(m_Physics.WheelF.NormSteer);
sensor.AddObservation(m_Physics.WheelR.NormMotorTorque);
sensor.AddObservation(m_Physics.WheelF.NormBrakeTorque);
sensor.AddObservation(m_Physics.WheelR.NormBrakeTorque);
sensor.AddObservation(m_Physics.WheelF.IsGrounded);
sensor.AddObservation(m_Physics.WheelR.IsGrounded);
sensor.AddObservation(m_Physics.WheelF.GetHeightAboveGround());
sensor.AddObservation(m_Physics.WheelR.GetHeightAboveGround());
}
private void Update()
{
float t = physics.WheelF.NormSteer;
foreach (var pose in laraAnim)
{
pose.Blend(t);
}
float speed = Mathf.Min(physics.Velocity.magnitude / 25f, 1f);
float drive = (speed + 0.5f) * (physics.WheelR.RPMRatio + 0.5f) * 0.5f;
float jump = Mathf.Min(Mathf.Sqrt(Mathf.Abs(physics.Velocity.y)), 1f);
float turn = Mathf.Abs(physics.Localize(physics.AngularVelocity).y / 2.5f);
float slip = physics.WheelR.sLong * physics.WheelF.sLong;
float fric = Mathf.Max(turn, slip < 1f ? slip : 0f);
float brake = physics.WheelR.BrakeRatio + physics.WheelF.BrakeRatio;
var emission = particles.emission;
emission.rateOverDistance = fric * smokeDensity;
motor1.volume = 0.65f - drive * 0.4f;
motor1.pitch = 1f + drive;
motor2.volume = drive;
motor2.pitch = 0.7f + drive * 0.3f;
tires1.volume = fric * 0.75f;
tires2.volume = brake * speed * 2f;
if (groundedR != physics.WheelR.IsGrounded)
{
groundedR = physics.WheelR.IsGrounded;
if (groundedR)
{
thud1.PlayOneShot(thud1.clip, jump);
}
}
if (groundedF != physics.WheelF.IsGrounded)
{
groundedF = physics.WheelF.IsGrounded;
if (groundedF)
{
thud2.PlayOneShot(thud2.clip, jump);
}
}
}