public override void OnActionReceived(ActionBuffers actionBuffers)
{
stepReward -= 0.0001f;
for (int i = 0; i < 4; i++)
{
var actionX = actionBuffers.ContinuousActions[i * 3 + 0];
var actionY = actionBuffers.ContinuousActions[i * 3 + 1];
var actionZ = actionBuffers.ContinuousActions[i * 3 + 2];
spider.SpiderLegs[i].LegsList[0].SetMotorVelocityAndForce(actionX * 1000, 200);
spider.SpiderLegs[i].LegsList[1].SetMotorVelocityAndForce(actionY * 1000, 200);
spider.SpiderLegs[i].LegsList[2].SetMotorVelocityAndForce(actionZ * 1000, 200);
}
// bool isLegOnFloor = false;
// foreach (var leg in spider.SpiderLegs)
// {
// foreach (var legElement in leg.LegsList)
// {
// isLegOnFloor = isLegOnFloor || legElement.OnFloor;
// }
// }
var curDistance = Vector3.Distance(spider.Position, finishTransform.position);
var maxDistance = Vector3.Distance(spider.StartPosition, finishTransform.position);
var progress = 1 - (curDistance / maxDistance);
if (progress <= -1 || spider.OnFloor || spider.CheckUpsideDown())
{
SetReward(-1f + stepReward);
EndEpisode();
}
else if (curDistance < 3)
{
SetReward(1f + stepReward);
EndEpisode();
}
else
{
var dir = finishTransform.position - spider.transform.position;
SetReward(progress * Vector3.Dot(spider.transform.forward, dir.normalized) + stepReward);
}
}