/// <summary>
/// Is invoked after the LampAgent takes an action
/// </summary>
/// <param name="vectorAction">action that was taken</param>
/// <param name="resultFlags">results of the action as a bitmask</param>
/// <returns>reward for the action</returns>
protected virtual float EvaluateAction(float[] vectorAction, out ActionResultFlags resultFlags)
{
// Assumes the actions is already taken
// vectorActions parameter is only provided just in case the implementation needs to know which action was taken
// resultFlags is a bitmask that indicates if the action was successful and/or terminal
resultFlags = ActionResultFlags.None;
// Calculate the target's x an y offset from the center of the camera
// And determine if the target is infront of the camera (on the cameras local z axis)
// Here we only consider the distance that the target is from the center of the camera (on the x and y axis)
currentTargetViewportPosition = lamp.WorldToViewportPoint(target.position);
bool targetIsInFrontOfCamera = currentTargetViewportPosition.z > 0;
float initialSqrOffset = ((Vector2)initialTargetViewportPosition).sqrMagnitude;
float currentSqrOffset = ((Vector2)currentTargetViewportPosition).sqrMagnitude;
if (Mathf.Abs(currentTargetViewportPosition.x) <= 1f && Mathf.Abs(currentTargetViewportPosition.y) <= 1f)
{
if (targetIsInFrontOfCamera)
{
if (currentSqrOffset <= initialSqrOffset)
{
float reward = Mathf.Pow(0.1f, currentSqrOffset / initialSqrOffset);
if (currentSqrOffset <= academy.SuccessThreshold)
{
resultFlags |= ActionResultFlags.Success;
reward = 1f;
}
return(reward);
}
}
}
return(-1f);
}
private bool IsFlagSet(ActionResultFlags flags)
{
return((mFlags & flags) == flags);
}
public ActionResult(ActionResultFlags flags)
{
mFlags = flags;
}
protected override float EvaluateAction(float[] vectorAction, out ActionResultFlags resultFlags)
{
//resultFlags = ActionResultFlags.None;
//currentTargetViewportPosition = lamp.WorldToViewportPoint(target.position);
//bool targetIsInFrontOfCamera = currentTargetViewportPosition.z > 0;
//float currentSqrOffset = ((Vector2)currentTargetViewportPosition).sqrMagnitude;
//float maxSqrOffset = lamp.ViewPortExtends.sqrMagnitude;
//if (targetIsInFrontOfCamera)
//{
// if (currentSqrOffset <= academy.SuccessThreshold)
// {
// resultFlags |= ActionResultFlags.Success;
// return 1f;
// }
// return 1f - Mathf.Clamp01(currentSqrOffset / maxSqrOffset);
//}
//return -1f + Mathf.Clamp01(currentSqrOffset / maxSqrOffset);
// ------------------------------------------------------------------------------------------------------------
//resultFlags = ActionResultFlags.None;
//currentTargetViewportPosition = lamp.WorldToViewportPoint(target.position);
//bool targetIsInFrontOfCamera = currentTargetViewportPosition.z > 0;
//float initialSqrOffset = ((Vector2)initialTargetViewportPosition).sqrMagnitude;
//float currentSqrOffset = ((Vector2)currentTargetViewportPosition).sqrMagnitude;
//if (targetIsInFrontOfCamera && currentSqrOffset <= academy.SuccessThreshold)
//{
// resultFlags |= ActionResultFlags.Success;
// return 1f;
//}
//return targetIsInFrontOfCamera ? -Mathf.Clamp01(currentSqrOffset / initialSqrOffset) : -1f;
// ------------------------------------------------------------------------------------------------------------
resultFlags = ActionResultFlags.None;
currentTargetViewportPosition = lamp.WorldToViewportPoint(target.position);
bool targetIsInFrontOfCamera = currentTargetViewportPosition.z > 0;
float initialSqrOffset = ((Vector2)initialTargetViewportPosition).sqrMagnitude;
float currentSqrOffset = ((Vector2)currentTargetViewportPosition).sqrMagnitude;
float maxSqrOffset = lamp.ViewPortExtends.sqrMagnitude;
if (Mathf.Abs(currentTargetViewportPosition.x) <= 1f && Mathf.Abs(currentTargetViewportPosition.y) <= 1f)
{
if (targetIsInFrontOfCamera)
{
if (currentSqrOffset <= initialSqrOffset)
{
float reward = Mathf.Pow(0.1f, currentSqrOffset / initialSqrOffset);
if (currentSqrOffset <= academy.SuccessThreshold)
{
resultFlags |= ActionResultFlags.Success;
reward = 1f;
}
return(reward);
}
}
}
return(-1f);
}