private void YieldRewards()
{
// sudden deaths
if (BallOut() || PoleOut())
{
statistics.AddOut();
ResetPole();
// EndEpisode();
}
if (BallRest())
{
// Debug.Log("Ball rests");
AddReward(BallRestPenalty);
statistics.AddRest();
SpawnTheBall();
// EndEpisode();
}
// Rewards
AddReward(BallContact());
//for precise kicks towards the goal
AddReward(AimingAccuracy());
AddReward(TargetApproximation());
//try to penalty heavy rotation
AddReward(HeavyRotation());
if (_ballColliders.touchedHomeZone)
{
// Debug.Log("penalty area");
AddReward(LameDefensePenalty);
_ballColliders.touchedHomeZone = false;
}
// if (SlowDownTheBall())
// AddReward(0.3f);
// Toooor
if (_ballColliders.touchedTarget)
{
AddReward(Goal);
_ballColliders.ResetValues();
EndEpisode();
}
// doh, own goal
if (_ballColliders.touchedSelfGoal)
{
AddReward(SelfGoal);
_ballColliders.ResetValues();
EndEpisode();
}
}
public override void OnActionReceived(float[] vectorAction)
{
// Actions, size = 1 //weil nur Drehung der einen Achse, würde ich sagen.
Vector3 controlSignal = Vector3.zero;
controlSignal.x = vectorAction[0] * 200;
pole.AddTorque(controlSignal);
// sudden deaths
if (BallOut())
{
Debug.Log("Out!");
EndEpisode();
}
if (BallRest())
{
EndEpisode();
}
// Rewards
if (_ballColliders.touchedHomeZone)
{
// Debug.Log("Strafraum");
SetReward(-0.3f);
_ballColliders.touchedHomeZone = false;
}
if (SlowDownTheBall())
{
SetReward(0.3f);
}
// Reached target
if (_ballColliders.touchedTarget)
{
// Debug.Log("Toooor");
SetReward(1.0f);
_ballColliders.ResetValues();
EndEpisode();
}
// Tor kassiert
if (_ballColliders.touchedSelfGoal)
{
// Debug.Log("EIGENTOR");
SetReward(-1.0f);
_ballColliders.ResetValues();
EndEpisode();
}
cumulativeReward.text = GetCumulativeReward().ToString("R");
}
