// Q学習用
public override int GetState()
{
int r = 0;
MalletControllers.ForEach(h =>
{
r = r * 9 + h.GetState();
});
Pucks.Select(puck => puck.GetComponent <Puck>()).ToList()
.ForEach(b => r = r * 9 + b.GetState(MalletControllers.Select(h => h.transform).ToList()));
return(r);
}
//エージェントの初期化
public override void AgentReset()
{
CurrentStep = 0;
CurrentStepMax = 1000;
CollisionNum = 0;
gameObject.SetActive(false);
gameObject.SetActive(true);
MalletControllers.ForEach(x => x.ResetParams());
Pucks.ForEach(b => b.GetComponent <Puck>().ResetParams());
RewardList = new List <float>()
{
0, 0
};
}
//(NE)状態を取得する
public override List <double> CollectObservations()
{
var observations = new List <double>();
MalletControllers.ForEach(x =>
{
observations.Add(x.RB.position.x - MyPosition.x);
observations.Add(x.RB.position.z - MyPosition.z);
});
Pucks.OrderBy(x => x.position.x).ToList().ForEach(x =>
{
observations.Add(x.position.x - MyPosition.x);
observations.Add(x.position.z - MyPosition.z);
observations.Add(x.velocity.x);
observations.Add(x.velocity.z);
});
return(observations);
}
public override void Stop()
{
MalletControllers.ForEach(x => x.Velocity = Vector3.zero);
}