public override void CollectObservations()
{
if (!active)
{
return;
}
Collider[] hitColliders = Physics.OverlapSphere(transform.position, 2f, rewardCubes, QueryTriggerInteraction.Collide);
LightClosestNodes(hitColliders);
Vector3 rayHeight = transform.position + new Vector3(0, -0.2f, 0);
RaycastHit hit;
float rotation = 0;
Quaternion rot = Quaternion.AngleAxis(rotation, Vector3.up);
for (int i = 0; i < 16; i++)
{
if (Physics.Raycast(rayHeight, transform.TransformDirection(rot * Vector3.forward), out hit, 10f, rewardCubes))
{
NodeComponent n = hit.collider.GetComponent <NodeComponent>();
if (n != null)
{
n.Light();
}
}
rotation += 22.5f;
rot = Quaternion.AngleAxis(rotation, Vector3.up);
}
if (pushAgent.GetStepCount() > 1500)
{
this.TouchDown();
}
}