private const string Ground = "ground"; // Tag of ground object.
/// <summary>
/// Check for collision with ground, and optionally penalize agent.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Ground))
{
touchingGround = true;
if (penalizeGroundContact)
{
agent.SetReward(groundContactPenalty);
}
if (agentDoneOnGroundContact)
{
agent.Done();
}
}
if (col.transform.CompareTag("Obstacle"))
{
agent.SetReward(groundContactPenalty * .5f);
}
}
private const string Ground = "ground"; // Tag of ground object.
/// <summary>
/// Check for collision with ground, and optionally penalize agent.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Ground))
{
touchingGround = true;
if (penalizeGroundContact)
{
agent.SetReward(groundContactPenalty);
}
if (agentDoneOnGroundContact)
{
agent.MyDoneFunc(true, true);
}
}
}
private const string Obstacle = "obstacle"; // Tag on obstacle
/// <summary>
/// Check for collision with a target.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Obstacle))
{
touchingObstacle = true;
if (penalizeObstacleContact)
{
agent.SetReward(obstacleContactPenalty);
}
if (agentDoneOnObstacleContact)
{
agent.Done();
}
}
}
/// <summary>
/// Check for collision with ground, and optionally penalize agent.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Ground))
{
touchingGround = true;
if (penalizeGroundContact)
{
agent.SetReward(groundContactPenalty);
if (buddyAgent)
{
buddyAgent.AddReward(-groundContactPenalty);
}
}
if (agentDoneOnGroundContact)
{
agent.Done();
if (buddyAgent)
{
buddyAgent.Done();
}
}
}
}
