private void Check(Collider collider)
{
RLAgent agent = collider.gameObject.GetComponent <RLAgent>();
agent.boxListener(this);
if (counter[agent.Id] < maxNumberOfTheRewards || maxNumberOfTheRewards < 0)
{
if (checkInside)
{
Collider[] colliders = Physics.OverlapBox(myCollider.bounds.center, myCollider.bounds.extents, transform.rotation);
int idx = System.Array.IndexOf(colliders, collider);
if (idx >= 0)
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
}
else
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
}
}
public void Check(Collider collider)
{
RLAgent agent = collider.gameObject.GetComponent<RLAgent>();
if (agent != null) {
touched[agent.Id] = true;
agent.touchListener(this);
if (precondition != null) {
if (!precondition.allowNext || !precondition.wasTouched(agent)){
agent.AddReward(-painForViolatinPrecondition, this);
agent.PreconditionFailListener(this, precondition);
return;
}
}
if (multiplePreconditions != null)
{
if (!multiplePreconditions.allowNext || !multiplePreconditions.wasTouched(agent))
{
agent.AddReward(-painForViolatinPrecondition, this);
agent.PreconditionFailListener(this, multiplePreconditions);
return;
}
}
if ( (counter[agent.Id] <
maxTouch) || (maxTouch < 0) )
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
} else if (maxTouch >= 0 && counter[agent.Id] >= maxTouch) {
agent.AddReward(-painForOverTouch, this);
}
}
}
// Update is called once per frame
void Update()
{
if (agent != null)
{
if (transform.localPosition.y < threshold)
{
if (!stopRewardingAfterFall)
{
agent.AddReward(rewardValue, this);
}
else if (!fall)
{
agent.AddReward(rewardValue, this);
}
fall = true;
}
}
}
void OnCollisionExit(Collision other)
{
if (triggerOnExit)
{
RLAgent agent = other.gameObject.GetComponent <RLAgent>();
agent.boxListener(this);
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
}
public override void RewardFrom(string actionName, RLAgent agent)
{
float d = Vector3.Distance(transform.localPosition, target.transform.localPosition);
if (minDist >= 0)
{
agent.AddReward(Math.Max(minDist - d, 0) - penalityByAction);
}
if (minDist < 0 || minDist > d)
{
minDist = d;
}
}
private void Check(Collider collider)
{
RLAgent agent = collider.gameObject.GetComponent <RLAgent>();
if (precondition != null)
{
if (!precondition.allowNext || !precondition.wasTouched(agent))
{
agent.AddReward(-painForViolatinPrecondition, this);
return;
}
}
if ((counter[agent.Id] < maxTouch || maxTouch < 0))
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
else if (maxTouch >= 0 && counter[agent.Id] >= maxTouch)
{
agent.AddReward(-painForOverTouch, this);
}
}
// Update is called once per frame
void FixedUpdate()
{
if (agent != null)
{
if (maxRewardByEpisode <= 0 || sumOfRewards < maxRewardByEpisode)
{
Vector3 p = Vector3.Scale(transform.localPosition, f);
Vector3 pp = Vector3.Scale(prevPosition, f);
float dist = Vector3.Distance(p, pp);
if (dist >= minimumDistance)
{
sumOfRewards += System.Math.Abs(reward);
agent.AddReward(reward, this);
}
}
}
else
{
Debug.LogWarning("Warning: an agent was not specified or this game object is not an agent!!!");
}
prevPosition = transform.localPosition;
}
// Update is called once per frame
void FixedUpdate()
{
if (target != null)
{
Vector3 tp = Vector3.Scale(target.transform.localPosition, f);
Vector3 p = Vector3.Scale(transform.localPosition, f);
Vector3 pp = Vector3.Scale(prevPosition, f);
float distance = Vector3.Distance(p, tp);
float autoDist = Vector3.Distance(p, pp);
if (maxRewardByEpisode <= 0 || totalReceivedReward < maxRewardByEpisode)
{
float mean = GetMean(hist, len);
if (autoDist >= minimumDistance && distance < mean)
{
totalReceivedReward += System.Math.Abs(reward);
agent.AddReward(reward, this);
}
}
hist[head] = distance;
head++;
if (head >= samples)
{
head = 0;
}
if (len < samples)
{
len++;
}
}
else
{
Debug.LogWarning("Warning: target is not specified in AutoDistanceRewardFunction");
}
prevPosition = transform.localPosition;
}