/// <summary>
/// Moves the agent according to the selected action.
/// </summary>
public void MoveAgent(ActionSegment <int> act)
{
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var action = act[0];
switch (action)
{
case 1:
dirToGo = transform.forward * 1f;
break;
case 2:
dirToGo = transform.forward * -1f;
break;
case 3:
rotateDir = transform.up * 1f;
break;
case 4:
rotateDir = transform.up * -1f;
break;
case 5:
dirToGo = transform.right * -0.75f;
break;
case 6:
dirToGo = transform.right * 0.75f;
break;
}
transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
ForceMode.VelocityChange);
}
public void MoveAgent(ActionSegment <int> act)
{
AddReward(-0.0005f);
var smallGrounded = DoGroundCheck(true);
var largeGrounded = DoGroundCheck(false);
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var dirToGoForwardAction = act[0];
var rotateDirAction = act[1];
var dirToGoSideAction = act[2];
var jumpAction = act[3];
if (dirToGoForwardAction == 1)
{
dirToGo = (largeGrounded ? 1f : 0.5f) * 1f * transform.forward;
}
else if (dirToGoForwardAction == 2)
{
dirToGo = (largeGrounded ? 1f : 0.5f) * -1f * transform.forward;
}
if (rotateDirAction == 1)
{
rotateDir = transform.up * -1f;
}
else if (rotateDirAction == 2)
{
rotateDir = transform.up * 1f;
}
if (dirToGoSideAction == 1)
{
dirToGo = (largeGrounded ? 1f : 0.5f) * -0.6f * transform.right;
}
else if (dirToGoSideAction == 2)
{
dirToGo = (largeGrounded ? 1f : 0.5f) * 0.6f * transform.right;
}
if (jumpAction == 1)
{
if ((jumpingTime <= 0f) && smallGrounded)
{
Jump();
}
}
transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
m_AgentRb.AddForce(dirToGo * m_WallJumpSettings.agentRunSpeed,
ForceMode.VelocityChange);
if (jumpingTime > 0f)
{
m_JumpTargetPos =
new Vector3(m_AgentRb.position.x,
m_JumpStartingPos.y + m_WallJumpSettings.agentJumpHeight,
m_AgentRb.position.z) + dirToGo;
MoveTowards(m_JumpTargetPos, m_AgentRb, m_WallJumpSettings.agentJumpVelocity,
m_WallJumpSettings.agentJumpVelocityMaxChange);
}
if (!(jumpingTime > 0f) && !largeGrounded)
{
m_AgentRb.AddForce(
Vector3.down * fallingForce, ForceMode.Acceleration);
}
jumpingTime -= Time.fixedDeltaTime;
}
public void MoveAgent(ActionSegment <int> act)
{
m_Shoot = false;
if (Time.time > m_FrozenTime + 4f && m_Frozen)
{
Unfreeze();
}
if (Time.time > m_EffectTime + 0.5f)
{
if (m_Poisoned)
{
Unpoison();
}
if (m_Satiated)
{
Unsatiate();
}
}
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
if (!m_Frozen)
{
var shootCommand = false;
var forwardAxis = (int)act[0];
var rightAxis = (int)act[1];
var rotateAxis = (int)act[2];
var shootAxis = (int)act[3];
switch (forwardAxis)
{
case 1:
dirToGo = transform.forward;
break;
case 2:
dirToGo = -transform.forward;
break;
}
switch (rightAxis)
{
case 1:
dirToGo = transform.right;
break;
case 2:
dirToGo = -transform.right;
break;
}
switch (rotateAxis)
{
case 1:
rotateDir = -transform.up;
break;
case 2:
rotateDir = transform.up;
break;
}
switch (shootAxis)
{
case 1:
shootCommand = true;
break;
}
if (shootCommand)
{
m_Shoot = true;
dirToGo *= 0.5f;
m_AgentRb.velocity *= 0.75f;
}
m_AgentRb.AddForce(dirToGo * moveSpeed, ForceMode.VelocityChange);
transform.Rotate(rotateDir, Time.fixedDeltaTime * turnSpeed);
}
if (m_AgentRb.velocity.sqrMagnitude > 25f) // slow it down
{
m_AgentRb.velocity *= 0.95f;
}
if (m_Shoot)
{
var myTransform = transform;
myLaser.transform.localScale = new Vector3(1f, 1f, m_LaserLength);
var rayDir = 25.0f * myTransform.forward;
Debug.DrawRay(myTransform.position, rayDir, Color.red, 0f, true);
RaycastHit hit;
if (Physics.SphereCast(transform.position, 2f, rayDir, out hit, 25f))
{
if (hit.collider.gameObject.CompareTag("agent"))
{
hit.collider.gameObject.GetComponent <FoodCollectorAgent>().Freeze();
}
}
}
else
{
myLaser.transform.localScale = new Vector3(0f, 0f, 0f);
}
}
/// <summary>
/// Called when an action is received from either the player input or the neural network
/// </summary>
/// vectorAction[i] represents:
/// Index 0: move vector z (+1 = right -1 = left)
/// Index 1: yaw angle z (+1 = right -1 = left)
/// Index 1: pitch angle z (+1 = right -1 = left)
/// <param name="actionBuffers"> The actions to take </param>
public override void OnActionReceived(ActionBuffers actionBuffers)
{
ActionSegment <int> act = actionBuffers.DiscreteActions;
var dirToGo = Vector3.zero;
var rotateDir = Vector3.zero;
var rotateMonitor = 0f;
var dirToGoForwardAction = act[0];
var rotateDirAction = act[1];
var rotateMonitorAction = act[2];
if (dirToGoForwardAction == 1)
{
dirToGo = 1f * transform.forward;
}
else if (dirToGoForwardAction == 2)
{
dirToGo = -1f * transform.forward;
}
if (rotateDirAction == 1)
{
rotateDir = transform.up * -1f;
}
else if (rotateDirAction == 2)
{
rotateDir = transform.up * 1f;
}
if (rotateMonitorAction == 1)
{
rotateMonitor = -1f;
}
else if (rotateMonitorAction == 2)
{
rotateMonitor = 1f;
}
rigidbody.AddForce(dirToGo * moveForce, ForceMode.VelocityChange);
transform.Rotate(rotateDir, Time.fixedDeltaTime * yawSpeed);
monitorLocalAngle += rotateMonitor * pitchSpeed * Time.fixedDeltaTime;
monitorLocalAngle = Mathf.Clamp(monitorLocalAngle, MinPitchAngle, MaxPitchAngle);
monitor.transform.localRotation = Quaternion.Euler(monitorLocalAngle, 0, 0);
if (rigidbody.velocity.sqrMagnitude > 0.5f) // slow it down
{
rigidbody.velocity *= 0.7f;
}
Vector3 screenPos = agentCamera.WorldToScreenPoint(dockingStation.transform.position);
steps++;
stepsEpoch++;
if (stepsEpoch == MaxStep - 1)
{
successfulDocking = false;
dockingTime = 0.02f * MaxStep;
String first = distanceFromDocker.ToString();
String second = spawningAngle.ToString();
String third = MaxStep.ToString();
String fourth = successfulDocking.ToString();
String fifth = dockingTime.ToString();
Debug.Log("Docking not successful in epoch " + epoch);
var newLine = string.Format("{0};{1};{2};{3};{4}", first, second, third, fourth, fifth);
Debug.Log(newLine);
csv.AppendLine(newLine);
}
if (steps >= 1)
{
//bool patternFound = Utils.isPatternVisible(agentCamera);
bool patternFound = (screenPos.x > 0) & (screenPos.x < agentCamera.pixelWidth) & (screenPos.y > 0) & (screenPos.y < agentCamera.pixelHeight) & (screenPos.z > 0) & (screenPos.z < 10);
//Debug.Log("Pattern found? " + patternFound);
if (patternFound)
{
float reward_x = Mathf.Abs(screenPos.x - (agentCamera.pixelWidth / 2)); // [0 - agentCamera.pixelWidth/2]
reward_x = -reward_x / (agentCamera.pixelWidth / 4) + 3; // [1-3]
float reward_y = Mathf.Abs(screenPos.y - (agentCamera.pixelHeight / 2)); // [0 - agentCamera.pixelHeight/2]
reward_y = -reward_y / (agentCamera.pixelHeight / 4) + 3; // [1-3]
//float reward_scale = screenPos.z<1.25f?3:0; // [0-3]
float reward_scale = Mathf.Clamp(3 - screenPos.z, 0, 3);
float reward_pattern = ((reward_x + reward_y + reward_scale) * steps) / (MaxStep * 9f);
//AddReward(reward_pattern);
//Debug.Log("Reward for detecting the pattern of: " + reward_pattern + ", detected at coordinates: " + screenPos);
}
else
{
float reward_pattern = -((float)steps / (float)MaxStep);
//AddReward(reward_pattern);
//Debug.Log("Reward for not detecting the pattern of: " + reward_pattern);
}
steps = steps % 1;
}
}
public void ActionCat(ActionSegment <int> action)
{
//에피소드 끝내는 것 .
if (order_count <= 0)
{
EndEpisode();
}
if (love_gauge <= 0 || loyal_gauge <= 0)
{
Flee();
}
if (condition_gauge <= 0)
{
Dead();
}
if (fun_gauge <= 0)
{
Rage();
}
//
Order();
//
Debug.Log("awdf");
if (AnimSwitch == false && order_count > 0)
{
randomOrder = Random.Range(1, 5);
//일부러 랜덤 값을 주어서 , 학습에 제약을 주어서 더욱 학습 성능 높히기 . 행동 제약
//값을 받아도 다른걸 실행시키지 않게 됨 .
//나중에는 내가 여기에 randomOrder 값을 조정해서 명령 내리도록 하면 될 듯 .
OrderToAction = (int)action[0];
switch (OrderToAction)
{
case 1:
if (randomOrder == 1)
{
Sleep();
SetReward(0.8f);
loyal_gauge += 10f;
actionFlag = false;
}
break;
case 2:
if (randomOrder == 2)
{
Sit();
SetReward(0.5f);
loyal_gauge += 10f;
actionFlag = false;
}
break;
//졸릴때 놀면 더 피곤해짐 .
case 3:
if (randomOrder == 3)
{
Run();
SetReward(0.3f);
loyal_gauge += 10f;
actionFlag = false;
}
break;
default:
SetReward(-1f);
loyal_gauge -= 4f;
actionFlag = false;
break;
}
}
}
