private void Evaluate(CarSensorData sensorData)
{
var outputs = neuralNetwork.CalculateOutputs(new List <decimal>
{
sensorData.FrontDistance,
sensorData.FrontLeftDistance,
sensorData.FrontRightDistance,
sensorData.LeftDistance,
sensorData.RightDistance,
sensorData.Speed
});
var speedUp = outputs[0];
var speedDown = outputs[1];
var turnLeft = outputs[2];
var turnRight = outputs[3];
SpeedOutput = 0;
if (speedUp + speedDown != 0)
{
SpeedOutput = (speedUp - speedDown) / (speedUp + speedDown);
}
TurnOutput = 0;
if (turnLeft + turnRight != 0)
{
TurnOutput = (turnRight - turnLeft) / (turnRight + turnLeft);
}
}
public CarSensorData GetSensorData()
{
var data = new CarSensorData();
var frontDist = float.MaxValue;
var frontLeftDist = float.MaxValue;
var frontRightDist = float.MaxValue;
var leftDist = float.MaxValue;
var rightDist = float.MaxValue;
var currentSpeed = float.MaxValue;
var forwardVector = transform.TransformVector(Vector3.forward);
var forwardLeftVector = transform.TransformVector(new Vector3(-1, 0, 2));
var forwardRightVector = transform.TransformVector(new Vector3(1, 0, 2));
var leftVector = transform.TransformVector(new Vector3(-2, 0, 1));
var rightVector = transform.TransformVector(new Vector3(2, 0, 1));
CastRay(forwardVector, ref frontDist);
CastRay(forwardLeftVector, ref frontLeftDist);
CastRay(forwardRightVector, ref frontRightDist);
CastRay(leftVector, ref leftDist);
CastRay(rightVector, ref rightDist);
data.FrontDistance = (decimal)frontDist;
data.FrontLeftDistance = (decimal)frontLeftDist;
data.FrontRightDistance = (decimal)frontRightDist;
data.LeftDistance = (decimal)leftDist;
data.RightDistance = (decimal)rightDist;
data.Speed = (decimal)currentSpeed;
return(data);
}
public void SetSensorData(CarSensorData sensorData, string formatString)
{
speedText.text = sensorData.Speed.ToString(formatString);
frontDistText.text = sensorData.FrontDistance.ToString(formatString);
frontLeftDistText.text = sensorData.FrontLeftDistance.ToString(formatString);
frontRightDistText.text = sensorData.FrontRightDistance.ToString(formatString);
leftDistText.text = sensorData.LeftDistance.ToString(formatString);
rightDistText.text = sensorData.RightDistance.ToString(formatString);
}
