private void SelectionAndExpantion()
{
int option = ChooseRandomAction();
if (!currentNode.checkChildren(option))
{
MonteCarloTree.Node nodeToAdd = new MonteCarloTree.Node();
nodeToAdd.NodeOption = option;
currentNode.AddChild(nodeToAdd);
}
float highestUCB = -1.0f;
MonteCarloTree.Node testNode = currentNode;
for (int i = 0; i < currentNode.GetNumberOfChildren(); i++)
{
float UCB = UpperConfidenceBound(currentNode.GetChild(i));
if (highestUCB < UCB)
{
testNode = currentNode.GetChild(i);
highestUCB = UCB;
}
}
currentNode = testNode;
nodeOptions = (NodeOptions)currentNode.NodeOption;
}
private void BackpropagationIfLost()
{
do
{
currentNode.VisitCount = currentNode.VisitCount + 1;
currentNode = currentNode.ParentNode;
} while (currentNode != null);
currentNode = rootNode;
}
// Use this for initialization
void Start()
{
// Initialise the accessable script components
_agentData = GetComponent <AgentData>();
_agentActions = GetComponent <AgentActions>();
_agentSenses = GetComponentInChildren <Sensing>();
_agentInventory = GetComponentInChildren <InventoryController>();
currentNode = rootNode;
startingPostion = transform.position;
// nodeOptions = NodeOptions.Nothing;
}
private float UpperConfidenceBound(MonteCarloTree.Node node)
{
float UCB = 0.0f;
if (node.VisitCount > 0)
{
UCB = (node.WinCount / node.VisitCount) + (ExplorationFactor * Mathf.Sqrt(Mathf.Log(node.ParentNode.VisitCount) / node.VisitCount));
}
else if (isExploring)
{
UCB = int.MaxValue;
}
return(UCB);
}
private void Checks()
{
if (_agentInventory.HasItem(Names.HealthKit))
{
if (_agentData.CurrentHitPoints <= 50)
{
_agentActions.UseItem(_agentInventory.GetItem(Names.HealthKit));
}
}
GameObject ObjectToCheck = _agentSenses.GetObjectInViewByName(Names.HealthKit);
if (ObjectToCheck != null)
{
if (!_agentInventory.HasItem(Names.HealthKit))
{
if (_agentSenses.IsItemInReach(ObjectToCheck))
{
_agentActions.CollectItem(ObjectToCheck);
Simulation((int)nodeOptions);
}
else if (Vector3.Distance(transform.position, ObjectToCheck.transform.position) < 7.0f)
{
_agentActions.MoveTo(ObjectToCheck);
}
}
}
ObjectToCheck = _agentSenses.GetObjectInViewByName(Names.PowerUp);
if (ObjectToCheck != null)
{
if (!_agentInventory.HasItem(Names.PowerUp))
{
if (_agentSenses.IsItemInReach(ObjectToCheck))
{
_agentActions.CollectItem(ObjectToCheck);
Simulation((int)nodeOptions);
}
else if (Vector3.Distance(transform.position, ObjectToCheck.transform.position) < 7.0f)
{
_agentActions.MoveTo(ObjectToCheck);
}
}
}
if (this.tag == Tags.BlueTeam)
{
ObjectToCheck = _agentSenses.GetObjectInViewByName(Names.RedFlag);
if (ObjectToCheck != null)
{
if (_agentSenses.IsItemInReach(ObjectToCheck))
{
_agentActions.CollectItem(ObjectToCheck);
Simulation((int)nodeOptions);
}
}
ObjectToCheck = _agentSenses.GetObjectInViewByName(Names.BlueFlag);
if (ObjectToCheck != null)
{
if (_agentSenses.IsItemInReach(ObjectToCheck))
{
ObjectToCheck.GetComponent <Flag>().ResetPositionBlue();
Simulation((int)nodeOptions);
}
}
if (_agentData.HasEnemyFlag)
{
if (Vector3.Distance(transform.position, _agentData.FriendlyBase.transform.position) <= 5.0f)
{
_agentActions.DropItem(_agentInventory.GetItem(Names.RedFlag));
hasWon = true;
ResetPosition();
hasWon = false;
currentNode = rootNode;
Debug.Log("win" + this.gameObject);
}
}
}
if (this.tag == Tags.RedTeam)
{
ObjectToCheck = _agentSenses.GetObjectInViewByName(Names.BlueFlag);
if (ObjectToCheck != null)
{
if (_agentSenses.IsItemInReach(ObjectToCheck))
{
_agentActions.CollectItem(ObjectToCheck);
Simulation((int)nodeOptions);
}
}
ObjectToCheck = _agentSenses.GetObjectInViewByName(Names.RedFlag);
if (ObjectToCheck != null)
{
if (_agentSenses.IsItemInReach(ObjectToCheck))
{
ObjectToCheck.GetComponent <Flag>().ResetPositionRed();
Simulation((int)nodeOptions);
}
}
if (_agentData.HasEnemyFlag)
{
if (Vector3.Distance(transform.position, _agentData.FriendlyBase.transform.position) <= 5.0f)
{
_agentActions.DropItem(_agentInventory.GetItem(Names.BlueFlag));
hasWon = true;
ResetPosition();
hasWon = false;
Debug.Log("win" + this.gameObject);
}
}
}
}