private void UpdateRays()
{
float distance = Vector3.Distance(CurrentTarget.position, transform.position);
float maxDistance = IAUtils.HypotenuseLength(GroundWidth, GroundHeight);
rayHitGoal = false;
RaycastHit hit;
if (Physics.Linecast(transform.position, goal.position, out hit, goalDetectionMask))
{
lineRenderer.SetPosition(0, transform.position);
lineRenderer.SetPosition(1, hit.point);
lineRenderer.startColor = lineRenderer.endColor = Color.red;
if (hit.transform == goal)
{
lineRenderer.startColor = lineRenderer.endColor = Color.green;
rayHitGoal = true;
}
}
targetLineRenderer.SetPosition(0, transform.position + Vector3.up);
targetLineRenderer.SetPosition(1, CurrentTarget.position);
targetLineRenderer.startColor = targetLineRenderer.endColor = targetGradient.Evaluate(Mathf.InverseLerp(0.0f, maxDistance, distance));
}
public override void CollectObservations()
{
Vector3 goalRelativePosition = transform.position.RelativePosition(goal.position);
Vector3 switchRelativePosition = transform.position.RelativePosition(wallSwitch.transform.position);
Vector3 positionOnGround = ground.position.RelativePosition(transform.position);
float distanceToGoal = Vector3.Distance(transform.position, goal.position);
float distanceToSwitch = Vector3.Distance(transform.position, goal.position);
float widthFactor = 1.0f / GroundWidth;
float heightFactor = 1.0f / GroundHeight;
float diagonalLength = IAUtils.HypotenuseLength(GroundWidth, GroundHeight);
UpdateRays();
float[] obs =
{
// Goal position
goalRelativePosition.x *widthFactor,
goalRelativePosition.z *heightFactor,
// Switch position
switchRelativePosition.x *widthFactor,
switchRelativePosition.z *heightFactor,
// Position on ground
positionOnGround.x *widthFactor,
positionOnGround.z *heightFactor,
// Distance to goal
distanceToGoal / diagonalLength,
// Distance to switch
distanceToSwitch / diagonalLength,
// Can reach goal
rayHitGoal ? 1 : 0,
// Switch was triggered,
wallSwitch.State == SwitchTrigger.SwitchState.ON ? 1 : 0,
// Step count
//(float) GetStepCount() / (float) agentParameters.maxStep
};
AddVectorObs(obs);
}