private const string Ground = "ground"; // Tag of ground object.
/// <summary>
/// Check for collision with ground, and optionally penalize agent.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Ground))
{
touchingGround = true;
if (penalizeGroundContact)
{
agent.SetReward(groundContactPenalty);
}
if (agentDoneOnGroundContact)
{
agent.Done();
}
}
}
private const string Obstacle = "obstacle"; // Tag on obstacle
/// <summary>
/// Check for collision with a target.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Obstacle))
{
touchingObstacle = true;
if (penalizeObstacleContact)
{
agent.SetReward(obstacleContactPenalty);
}
if (agentDoneOnObstacleContact)
{
agent.Done();
}
}
}