public override void AgentAction(float[] vectorAction, string textAction)
{
Vector3 BallTransform = Ball.transform.position;
var actionZ = 0.1f * Mathf.Clamp(vectorAction[0], -1f, 1f);
var actionX = 0.1f * Mathf.Clamp(vectorAction[1], -1f, 1f);
if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
(gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
{
gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ);
}
if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) ||
(gameObject.transform.rotation.x > -0.25f && actionX < 0f))
{
gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX);
}
float distanceToTarget = Vector3.Distance(Ball.transform.position, Target.position);
if (distanceToTarget < 0.5f)
{
SetReward(0.0f);
Done();
}
else if (BallTransform.y - gameObject.transform.position.y < -2f ||
Mathf.Abs(BallTransform.x - gameObject.transform.position.x) > 2.5f ||
Mathf.Abs(BallTransform.z - gameObject.transform.position.z) > 2.5f)
{
SetReward(-11.0f);
Done();
}
else
{
bool found = false;
for (int i = 0; i < this.transform.childCount; i++)
{
if (this.transform.GetChild(i).gameObject.tag == "wall")
{
script = this.transform.GetChild(i).gameObject.GetComponent <colider> ();
if (script.stat == true)
{
SetReward(-11.0f);
found = true;
script.stat = false;
}
}
}
if (found == false)
{
SetReward(-10.0f);
}
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
integrator = new Vector3(0.0f, 0.0f, 0.0f);
Vector3 BallTransform = Ball.transform.position;
// desired rotation
actionX = vectorAction[0];
actionZ = vectorAction[1];
float distanceToTarget = Vector3.Distance(Ball.transform.position, Goal.transform.position);
if (distanceToTarget < 0.005f)
{
SetReward(0.0f);
Done();
}
else if (BallTransform.y - gameObject.transform.position.y < -2f ||
Mathf.Abs(BallTransform.x - gameObject.transform.position.x) > 0.335f ||
Mathf.Abs(BallTransform.z - gameObject.transform.position.z) > 0.335f)
{
SetReward(-11.0f);
Done();
}
else
{
bool found = false;
for (int i = 0; i < this.transform.childCount; i++)
{
if (this.transform.GetChild(i).gameObject.tag == "wall")
{
script = this.transform.GetChild(i).gameObject.GetComponent <colider> ();
if (script.stat == true)
{
SetReward(-11.0f);
found = true;
script.stat = false;
}
}
}
if (found == false)
{
SetReward(-1.0f);
}
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
Vector3 BallTransform = Ball.transform.position;
bool baseLeft = false;
bool goalTouch = false;
bool wallTouch = false;
var actionZ = Mathf.Clamp(vectorAction[0], -1f, 1f);
var actionX = Mathf.Clamp(vectorAction[1], -1f, 1f);
if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) ||
(gameObject.transform.rotation.z > -0.25f && actionZ < 0f))
{
gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ);
gameObject.transform.Rotate(new Vector3(0, 1, 1), 0.0f);
}
if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) ||
(gameObject.transform.rotation.x > -0.25f && actionX < 0f))
{
gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX);
gameObject.transform.Rotate(new Vector3(0, 1, 0), 0.0f);
}
float distanceToTarget = Vector3.Distance(Ball.transform.position, Target.position);
if (BallTransform.y - gameObject.transform.position.y < -2f ||
Mathf.Abs(BallTransform.x - gameObject.transform.position.x) > 2.5f ||
Mathf.Abs(BallTransform.z - gameObject.transform.position.z) > 2.5f)
{
SetReward(-11.0f);
Done();
}
else
{
for (int i = 0; i < this.transform.childCount; i++)
{
if (this.transform.GetChild(i).gameObject.tag == "wall")
{
script = this.transform.GetChild(i).gameObject.GetComponent <colider> ();
if (script.stat == true)
{
//wallTouch = true;
script.stat = false;
}
}
if (this.transform.GetChild(i).gameObject.tag == "Base")
{
script = this.transform.GetChild(i).gameObject.GetComponent <colider> ();
if (script.stat == false)
{
baseLeft = true;
}
else
{
script.stat = false;
}
}
if (this.transform.GetChild(i).gameObject.tag == "Goal")
{
script = this.transform.GetChild(i).gameObject.GetComponent <colider> ();
if (script.stat == true)
{
goalTouch = true;
script.stat = false;
}
}
}
if (goalTouch == true || Vector3.Distance(Ball.transform.position, Target.position) < 0.5f)
{
Done();
SetReward(0.0f);
}
else if (baseLeft == true)
{
Done();
SetReward(-10.0f);
}
else if (wallTouch == true)
{
SetReward(-10.0f);
}
else if (Vector3.Distance(Ball2, Ball1) > Vector3.Distance(Ball2, Ball.transform.position))
{
SetReward(-10.0f);
}
else
{
SetReward(-1.0f);
}
}
Ball2 = Ball1;
Ball1 = Ball.transform.position;
}
void OntriggerEnter(colider other)
{
Destroy(Player);
}
