public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation((transform.position.x - m_Area.transform.position.x) / 20f);
sensor.AddObservation((transform.position.z - m_Area.transform.position.z) / 20f);
sensor.AddObservation(transform.forward.x);
sensor.AddObservation(transform.forward.z);
foreach (var item in CurrentlyVisibleTilesList)
{
// Each observation / tile in the BufferSensor will have 22 values
// The first 20 are one hot encoding of the value of the tile
// The 21st and 22nd are the position of the tile relative to the agent
// The 23rd is a boolean : 1 if the tile was visited already and 0 otherwise
float[] listObservation = new float[k_HighestTileValue + 3];
listObservation[item.NumberValue] = 1.0f;
var tileTransform = item.transform.GetChild(1);
listObservation[k_HighestTileValue] = (tileTransform.position.x - transform.position.x) / 20f;
listObservation[k_HighestTileValue + 1] = (tileTransform.position.z - transform.position.z) / 20f;
listObservation[k_HighestTileValue + 2] = item.IsVisited ? 1.0f : 0.0f;
// Here, the observation for the tile is added to the BufferSensor
m_BufferSensor.AppendObservation(listObservation);
}
;
}
public override void CollectObservations(VectorSensor sensor)
{
_isPrepared = false;
// Agent position
var position = transform.localPosition;
sensor.AddObservation(position.x);
sensor.AddObservation(position.z);
// Agent velocity
var selfVelocity = _rBody.velocity;
sensor.AddObservation(selfVelocity.x);
sensor.AddObservation(selfVelocity.z);
// Time left for preparation
if (StepCount > _config.preparingPhaseLength)
{
sensor.AddObservation(0.0f);
}
else
{
sensor.AddObservation(_config.preparingPhaseLength - StepCount);
}
foreach (var obj in _viewField.collectVisibleObjects().Where(obj =>
obj.CompareTag(hiderTag) || obj.CompareTag(seekerTag) || obj.CompareTag(cubeTag) || obj.CompareTag(rampTag)))
{
if (team == Team.Seeker && obj.CompareTag(hiderTag))
{
_seenHolder.isAnyHiderSeen = true;
Debug.DrawLine(transform.position, obj.transform.position, Color.red);
}
float[] observations = new float[8];
Rigidbody objectRigidBody = obj.GetComponent <Rigidbody>();
// Other object position
var localPosition = obj.transform.localPosition;
observations[0] = localPosition.x / 10.0f;
observations[1] = localPosition.z / 10.0f;
// Other object velocity
var velocity = objectRigidBody.velocity;
observations[2] = velocity.x / 100.0f;
observations[3] = velocity.z / 100.0f;
// Other object team
if (obj.CompareTag(hiderTag))
{
observations[4] = 1.0f;
}
else if (obj.CompareTag(seekerTag))
{
observations[5] = 1.0f;
}
else if (obj.CompareTag(cubeTag))
{
observations[6] = 1.0f;
}
else
{
observations[7] = 1.0f;
}
_bufferSensor.AppendObservation(observations);
}
}