private Action GetAction()
{
if (groupMod.WithinGCM())
{
return(Action.Driving);
}
return(Action.Collecting);
}
private void LateUpdate()
{
// 数据统计
if (Config.useStatistical)
{
// 统计占比
if (groupMod.WithinGCM())
{
statistical.driveStep++;
}
else
{
statistical.collectStep++;
}
statistical.step++;
statistical.sheepNum = Config.N;
statistical.timeOK += Time.fixedDeltaTime;
}
if (groupMod.IsTargetOk() && groupMod.WithinGCM())
{
ReLoad();
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
time += Time.deltaTime;
if (brain.brainParameters.vectorActionSpaceType == SpaceType.continuous)
{
Vector3 vec = new Vector3(vectorAction[0], vectorAction[1]);
Vector2 GCM = groupMod.GetGCM();
if (Vector2.Dot(vec, (GCM - new Vector2(transform.position.x, transform.position.y))) < 0)
{
vec = new Vector2(-vec.x, -vec.y);
}
vec.Normalize();
float speed = Mathf.Clamp(vectorAction[2], 1f, 2f);
gameObject.transform.position += speed * vec;
}
if (groupMod.IsTargetOk())
{
AddReward(1000f);
Done();
}
else
{
if (time >= 20)
{
AddReward(-200f);
Done();
}
if (groupMod.WithinGCM())
{
AddReward(1);
}
float dis = CalDistance();
AddReward(Mathf.Clamp((lastDis - dis), -0.1f, 0.1f));
}
AddReward(-0.05f);
}