public void Step(int maxSteps)
{
step += 1;
var newPosition = unityAgent.transform.localPosition;
var newRotation = unityAgent.body.rotation.eulerAngles;
var newVelocity = unityAgent.body.velocity;
var newTargetPosition = target.localPosition;
var isInsideArea = FlyingArea.IsInsideArea(area);
agent = FlyingAgent.Update(agent, newPosition, newTargetPosition, newRotation, velocity: newVelocity,
speed: moveSpeed);
area = FlyingArea.Update(area, agent, newTargetPosition, isInsideArea);
if (!isInsideArea)
{
AgentOutsideArea(maxSteps);
}
if (isInsideArea)
{
AgentInsideArea(maxSteps);
}
if (AgentOutOfBounds())
{
AgentFail();
}
if (step > maxSteps)
{
TimeUp();
}
AgentStep(maxSteps);
}
public void FlyingArea_Position_Into()
{
var fArea = new FlyingArea(5, 5);
Enumerable.Range(1, 5).ToList().ForEach(r =>
{
fArea.PositionIntoFlyingArea(new Position(r, r, CardinalDirection.E));
});
}
public void inside_area()
{
var target = new Vector3(0, 3, 0);
var agent = FlyingAgent.Create(position: new Vector3(0, 2.999f, 0));
var area = FlyingArea.Create(agent, target);
var result = FlyingArea.IsInsideArea(area);
Assert.IsTrue(result);
}
private void Initialize()
{
step = 0;
stepsInsideTarget = 0;
levelParameters = LevelParameters.Create(100, 30f, 1f);
var initialPosition = spawnPosition.localPosition;
var targetPosition = target.localPosition;
agent = FlyingAgent.Create(initialPosition, target: targetPosition, speed: moveSpeed);
area = FlyingArea.Create(agent, targetPosition, doneReward: 2f, failReward: -2f);
ResetUnityEntities(initialPosition, targetPosition);
}
private void Reset(bool changeTargetPosition = false)
{
step = 0;
stepsInsideTarget = 0;
var initialPosition = spawnPosition.localPosition;
var targetLocalPosition = target.localPosition;
var targetPosition = changeTargetPosition
? GenerateNewTargetPosition(initialPosition)
: targetLocalPosition;
agent = FlyingAgent.Update(agent, initialPosition, targetPosition);
area = FlyingArea.Update(area, agent, targetPosition);
ResetUnityEntities(initialPosition, targetPosition);
}
/// <summary>
/// Method to obtain all drones and its movements.
/// </summary>
/// <param name="flyingArea">Flying Area. Format: Width Height</param>
/// <param name="dronesParameters">Drones initial position and movements. Format of each element: InitialPosition|Movements
/// - InitialPosition: XAxis YAxis Direction
/// - Movements: List of Movements
/// - Example: 5 5 S|LMMRM
/// </param>
/// <returns></returns>
public static List <DronInit> ParseDronesParameters(string flyingArea, List <string> dronesParameters)
{
List <DronInit> dronsToMove = new List <DronInit>();
// Get Flying Area
string[] flyingAreaArray = flyingArea.Split(" ");
int width = Int32.Parse(flyingAreaArray[0]);
int height = Int32.Parse(flyingAreaArray[1]);
FlyingArea FlyingArea = new FlyingArea(width, height);
// Get Drones. Start position and list of movements
foreach (string droneParameter in dronesParameters)
{
string[] dronesParametersArray = droneParameter.Split("|");
string[] startPositionArray = dronesParametersArray[0].Split(" ");
int xAxis = Int32.Parse(startPositionArray[0]);
int yAxis = Int32.Parse(startPositionArray[1]);
Direction dir = Utils.DirectionMapper(startPositionArray[2]);
Dron dron = new Dron(FlyingArea, xAxis, yAxis, dir);
string movements = dronesParametersArray[1];
List <Movement> lMovements = new List <Movement>();
foreach (char character in movements)
{
lMovements.Add(Utils.MovementMapper(character));
}
DronInit dronInit = new DronInit(dron, lMovements);
dronsToMove.Add(dronInit);
}
return(dronsToMove);
}
public void FlyingArea_Position_Out_XY()
{
var fArea = new FlyingArea(5, 5);
fArea.PositionIntoFlyingArea(new Position(6, 6, CardinalDirection.E));
}
public void Setup()
{
// Define flying area for testing purpose
flyingArea = new FlyingArea(6, 6);
}
