public override void AgentStep(float[] act)
{
switch ((int)act[0])
{
case 0:
ship.rb.AddForce(new Vector2(ship.thrust, 0));
reward += 0.01f;
break;
case 1:
ship.rb.AddForce(new Vector2(-ship.thrust, 0));
reward += 0.01f;
break;
case 2:
ship.rb.AddForce(new Vector2(0, ship.thrust));
reward -= 0.005f;
break;
case 3:
ship.rb.AddForce(new Vector2(0, -ship.thrust));
reward += 0.01f;
break;
case 4:
ship.Shoot();
reward += 0.05f;
break;
}
if (currentScore < (float)GameControl.instance.score)
{
//Enemy killed
currentScore = (float)GameControl.instance.score;
currenOnScreenEnemies = Spawner.instance.getOnScreenEnemies();
reward += 1f;
}
if (currentHealth < GameControl.instance.health)
{
//health kit picked up
currentHealth = GameControl.instance.health;
reward += 1f;
}
if (currentHealth > GameControl.instance.health)
{
reward -= .5f;
currentHealth = GameControl.instance.health;
}
if (GameControl.instance.gameOver)
{
reward = -1;
done = true;
return;
}
reward = Mathf.Clamp(reward, -1f, 1f);
rewardText.text = string.Format("Reward: {0}", CumulativeReward.ToString("0.00"));
}
public override void AgentStep(float[] act)
{
float action_horizontal = act[0];
float action_vertical = act[1];
// Debug.Log("action_horizontal = " + action_horizontal);
// Debug.Log("action_vertical = " + action_vertical);
Vector3 nextPos = transform.position + new Vector3(action_horizontal * Time.deltaTime, action_vertical * Time.deltaTime, originalZ);
// nextPos = Camera.main.WorldToScreenPoint(nextPos);
// Debug.Log("nextPos = " + nextPos);
// Debug.Log("Screen.width = " + Screen.width);
// Debug.Log("Screen.height = " + Screen.height);
if (nextPos.x > -10 && nextPos.x < 10)
{
transform.Translate(Vector3.right * action_horizontal * Time.deltaTime);
}
if (nextPos.y > -5 && nextPos.y < 5)
{
transform.Translate(Vector3.up * action_vertical * Time.deltaTime);
}
if (Vector3.Distance(mouseObject.position, transform.position) < 1f)
{
reward -= 1f;
done = true;
}
else
{
reward += 0.01f;
}
// Debug.Log("stepCounter = " + stepCounter);
// Debug.Log("maxStep = " + maxStep);
if (stepCounter >= maxStep)
{
reward += 5f;
done = true;
}
myText.text = CumulativeReward.ToString("F2");
// Debug.Log("academy.episodeCount = " + academy.episodeCount);
// Debug.Log("mousePos = " + mouseObject.position );
}
public void DoUpdateSlugBody(float alphaChange, float t)
{
Debug.Log(string.Format("Update Slug Body: {0}, {1}", alphaChange.ToString(), t.ToString()));
float currentAlpha = Mathf.Clamp(_previousAlpha + alphaChange, 0f, Mathf.PI * 0.5f);
float delta_d = 2f * bodySeparation * (Mathf.Cos(currentAlpha) - Mathf.Cos(_previousAlpha));
float delta_xa = (t - 1f) * delta_d;
float delta_xb = t * delta_d;
bodyA.position += Vector3.right * delta_xa;
bodyB.position += Vector3.right * delta_xb;
Vector3 newPositionC = bodyC.position;
newPositionC.x = (bodyA.position.x + bodyB.position.x) * 0.5f;
newPositionC.y = bodyA.position.y + bodySeparation * Mathf.Sin(currentAlpha);
bodyC.position = newPositionC;
bodyPreA.position = bodyA.position - Vector3.right * bodySeparation;
bodyPreB.position = bodyB.position + Vector3.right * bodySeparation;
if (done == false)
{
float velocityC = (bodyC.position.x - _previousPositionC) / Time.fixedDeltaTime;
reward = 0f;
// Only apply bonus if displacement is positive (no increased penalty)
reward += velocityC * multiplierForBodyVelocity;
reward -= stepPenalty;
reward -= alphaChange * alphaChange * multiplierForActionSquared;
#if UNITY_EDITOR
Debug.Log("Reward: " + reward.ToString() + " ; Cum: " + CumulativeReward.ToString());
#endif
}
_previousAlpha = currentAlpha;
_previousT = t;
}
