public NPCAction()
{
s = MatrixXd.Zero(S, N);
a = MatrixXd.Zero(A, N);
s_ = MatrixXd.Zero(S, N);
a_ = MatrixXd.Zero(A, N);
r = RowVectorXd.Zero(N);
}
private void Update()
{
Owner.Get <AircraftComponent>().Accelerate();
//var destination = Transform.Position + new Vector3(0, 1, 0);
//Owner.Get<AIComponent>().AutoPilot(destination);
var curvedSurface = (Entity.Find("ground").Get <CollisionComponent>().Shape as CurvedSurface);
float distance = 0;
{
Point ray = new Point()
{
Matrix = new Matrix4x3().Identity().Translate(Transform.Position),
Velocity = Transform.Forward * 1000
};
var point = curvedSurface.Collide(ray);
if (float.IsNaN(point.X))
{
distance = 1;
}
else
{
distance = (Transform.Position - point).Magnitude / 1000;
}
}
float height = curvedSurface.ComputeHeight(Transform.Position) / 500;
float upwardY = Transform.Upward.Y;
if (frame % 10 == 0)
{
X[0, N] = distance;
X[1, N] = height;
X[2, N] = upwardY;
D[0, N] = distance;
N++;
}
assert(N < 8192);
MatrixXd x = MatrixXd.Zero(3, 1);
x[0, 0] = distance;
x[1, 0] = height;
X[2, N] = upwardY;
this.RiskPredict = CollisionPredictionNetwork.Forward(x)[0, 0];
this.Distance = distance;
this.Height = height;
this.UpwardY = upwardY;
}
