public override void CollectObservations()
{
Vector3 pos = transform.position;
// Proximity raycast to find enemies
PhysicHelper.RadialRaycasts(pos, RaycastEnemyMask, RaycastEnemyCount, RaycastEnemyLength, AddVectorObs);
// Additional raycasts at a further distance to help determine best global direction (a heatmap could probably be better here)
PhysicHelper.RadialRaycasts(pos, RaycastEnemyMask, RaycastEnemyCount, RaycastEnemyLength, AddVectorObs, RaycastEnemyLength + 1);
// Detect Walls
PhysicHelper.RadialRaycasts(pos, RaycastWallMask, RaycastWallCount, RaycastWallLength, AddVectorObs);
AddVectorObs(_rigidBody.velocity.x / MaxVelocity);
AddVectorObs(_rigidBody.velocity.z / MaxVelocity);
}
public override void CollectObservations()
{
PhysicHelper.RadialRaycasts(transform.position, RaycastEnemyMask, RaycastEnemyCount, RaycastEnemyLength, AddVectorObs);
AddVectorObs(_delayShoot / (float)_delayBetweenShoot);
}