public void Step(int maxSteps)
{
step += 1;
var position = unityAgent.body.transform.localPosition;
var targetPosition = target.localPosition;
var velocity = unityAgent.body.velocity;
unityAgent.model = ForwardAgent.Update(unityAgent.model, position, targetPosition, velocity);
var distanceToTarget = Math.Abs(Vector3.Distance(targetPosition, position));
if (HasReachedTarget(distanceToTarget))
{
AgentDone();
}
else if (step > maxSteps)
{
TimeUp();
}
else
{
AgentStep(maxSteps, distanceToTarget);
}
}
private void UpdateForwardAgent()
{
var position = forward.body.transform.localPosition;
var targetPosition = target.localPosition;
var velocity = forward.body.velocity;
forward.model = ForwardAgent.Update(forward.model, position, targetPosition, velocity);
}
private void Initialize()
{
step = 0;
var initialPosition = spawnPosition.localPosition;
var targetPosition = target.localPosition;
unityAgent.model = ForwardAgent.Create(initialPosition, targetPosition, moveSpeed);
ResetUnityEntities(initialPosition, targetPosition);
}
public override void Reset()
{
step = 0;
var initialPosition = spawnPosition.localPosition;
var initialVelocity = Vector3.zero;
var targetPosition = target.localPosition;
targetPosition.z *= -1f;
unityAgent.model = ForwardAgent.Update(unityAgent.model, initialPosition, targetPosition, initialVelocity);
ResetUnityEntities(initialPosition, targetPosition);
}
void Start()
{
rotate.model = RotateAgent.Create(Quaternion.identity, target.localPosition, 5f);
forward.model = ForwardAgent.Create(transform.localPosition, target.localPosition, 1f);
}
