/// <summary>
/// This function fires a ray forward and compares the tag to check if target has been hit
/// </summary>
public void Fire()
{
//DebugText.AddDebugText("firing");
if (Physics.Raycast(gun.transform.position, gun.transform.forward, out RaycastHit hit))
{
if (hit.transform.CompareTag("target"))
{
DebugText.AddDebugText("hit target");
target.targetHit = true;
}
}
}
/// <summary>
/// This function defines the actions the agent can take based on the action vector.
/// </summary>
///
/// <para>
/// The bot can take 3 actions, move vertically, horizontally or fire. Currently rewards are not being
/// given for firing, only aiming.
///
/// Rewards are given as follows
/// +100 -> lining up with the target
/// +1 -> moving towards target
/// -10 -> moving out of wall bounds
/// -0.001 -> moving away from target
/// -0.001 -> every frame
/// -0.5 -> if too much time has passed, deduct points and reset
/// </para>
///
/// <param name="vectorAction">The vector containing the </param>
public override void AgentAction(float[] vectorAction)
{
// Actions, size = 3
// Based on values, move the aim or fire
float vertical = vectorAction[0];
float horizontal = vectorAction[1];
float fire = vectorAction[2];
// If automatic aiming is not enabled
if (!gunComponent.perfectAim.perfectAimmer)
{
if (vertical > 0.5)
{
gunComponent.MoveGun(1);
}
else if (vertical < -0.5)
{
gunComponent.MoveGun(6);
}
if (horizontal > 0.5)
{
gunComponent.MoveGun(4);
}
if (horizontal < -0.5)
{
gunComponent.MoveGun(3);
}
if (fire > 0.9f)
{
gunComponent.Fire();
}
}
// Rewards
// if correctly moving aim towards target
if (aiming)
{
AddReward(0.1f);
}
else
{
AddReward(-1f);
}
if (timeUp)
{
DebugText.AddDebugText("done cause time");
timeUp = false;
AddReward(-0.1f);
Done();
}
// Limit the aim to only wall
if (Physics.Raycast(gunObject.transform.position, gunObject.transform.forward, out RaycastHit hit))
{
if (hit.transform.tag != "target")
{
if (hit.transform.tag != "wall")
{
//DebugText.AddDebugText("going out of bounds");
AddReward(-100f);
Done();
}
}
if (hit.transform.CompareTag("target"))
{
AddReward(50f);
Done();
}
}
// encourage bot to finish the level quickly
AddReward(-0.1f);
//Debug.Log("Reward" + GetReward());
}
