public override void CollectObservations()
{
foreach (var ap in allPosition)
{
AddVectorObs(ap);
}
AddVectorObs(_target.transform.localPosition);
AddVectorObs(intelPointNb.GetComponent <Rigidbody>().velocity);
AddVectorObs(ip);
}
// Update is called once per frame
void Update()
{
tp = _target.GetComponent <Rigidbody>().position;
ip = intelPoint.position;
//print("ip is" + ip);
//youwenti
for (int i = 0; i < allPosition.Count; i++)
{
deltaPosition.Add(ip - allPosition[i]);
// print(deltaPosition[i]);
}
dir = tp - ip;
// add force for intelligent part
intelPointNb.GetComponent <Rigidbody>().AddForce(dir * moveSpeed, ForceMode.Force);
if (intelPointNb.GetComponent <Rigidbody>().velocity.sqrMagnitude > 25f) // slow it down
{
intelPointNb.GetComponent <Rigidbody>().velocity = intelPointNb.GetComponent <Rigidbody>().velocity *0.6f;
}
//add linked force for non - intelligent part
//for (int i = 0; i < allPosition.Count; i++)
//{
// if (deltaPosition[i].magnitude > originaldeltaPosition[i].magnitude) //p1-p0>0
// {
// var dirr = deltaPosition[i].normalized;
// var deltap = deltaPosition[i] - originaldeltaPosition[i]; //deltap = p1-p0
// nointelPointNb[i].GetComponent<Rigidbody>().AddForce((noin_moveSpeed * deltap.magnitude) * dirr, ForceMode.Force);
// }
// else
// {
// nointelPointNb[i].GetComponent<Rigidbody>().velocity = 0.1f * nointelPointNb[i].GetComponent<Rigidbody>().velocity;
// print("stay"); //速度减慢趋于静止
// }
//}
//store previousposition information
previousip = ip;
}
// Start is called before the first frame update
void Start()
{
nointelPointNb = allPointObj.GetComponentsInChildren <NodePoint>();
foreach (var n in nointelPointNb)
{
n.position = n.transform.localPosition;
allPosition.Add(n.position);
//print(n.position);
}
ip = intelPoint.transform.localPosition;
tp = _target.GetComponent <Rigidbody>().position;
dir = tp - ip;
intelPointNb = intelPoint.GetComponent <NodePoint>();
originaldeltaPosition = deltaPosition;
}
public override void InitializeAgent()
{
nointelPointNb = allPointObj.GetComponentsInChildren <NodePoint>();
foreach (var n in nointelPointNb)
{
n.position = n.transform.localPosition;
allPosition.Add(n.position);
//print(n.position);
}
ip = intelPoint.position;
tp = _target.GetComponent <Rigidbody>().position;
dir = tp - ip;
intelPointNb = intelPoint.GetComponent <NodePoint>();
originaldeltaPosition = deltaPosition;
SetReward(0.005f);
}
// Update is called once per frame
void Update()
{
if (controls.TrackCreating.Start.triggered)
{
inMenu = !inMenu;
if (inMenu)
{
FindObjectOfType <TrackUIManager>().ShowMenu();
}
else
{
FindObjectOfType <TrackUIManager>().HideMenu();
}
}
if (!inMenu)
{
Cursor.lockState = CursorLockMode.Locked;
Cursor.visible = false;
//adds a new road segment
if (controls.TrackCreating.PlaceNode.triggered && !MovingObject)
{
AddPoint();
//addNode = false;
AS.PlayOneShot(placeNode);
}
//zooms in and out
if (controls.TrackCreating.Zoom.triggered)
{
int value = (int)controls.TrackCreating.Zoom.ReadValue <float>();
if ((int)ZoomLevel + value <= 4 && (int)ZoomLevel + value >= 1)
{
ZoomLevel = ZoomLevel + value;
Zoom();
}
}
//finds out if we're hovering over a node
Ray ray = Camera.main.ScreenPointToRay(cursorPosition);
ray.origin = new Vector3(RoundTo(ray.origin.x, (15f / 4) * (int)gridSize), RoundTo(ray.origin.y, 1), RoundTo(ray.origin.z, (15f / 4) * (int)gridSize));
RaycastHit hit;
if (Physics.Raycast(ray, out hit, 100f, nodeLayer))
{
NodePoint p = hit.collider.gameObject.GetComponent <NodePoint>();
if (!p.LockedNode)
{
//if we select the node to move it
if (controls.TrackCreating.Drag.triggered && !p.isSelected)
{
p.Select(true);
MovingObject = p.gameObject;
}
//when we deselect a node
else if (controls.TrackCreating.Drag.triggered && p.isSelected)
{
p.Select(false);
MovingObject = null;
}
}
//rotating the nodes around
if (controls.TrackCreating.RotateRight.triggered)
{
NodeManager.instance.Rotate(p.GetComponent <NodePoint>(), true);
}
if (controls.TrackCreating.RotateLeft.triggered)
{
NodeManager.instance.Rotate(p.GetComponent <NodePoint>(), false);
}
if (controls.TrackCreating.Delete.triggered)
{
NodeManager.instance.RemoveNode(p.GetComponent <NodePoint>());
AS.PlayOneShot(deleteNode);
}
}
//moving a nodes position
if (MovingObject)
{
Vector3 newPos = Camera.main.ScreenToWorldPoint((Vector3)cursorPosition + new Vector3(0, 0, Camera.main.transform.position.y - 1));
newPos = new Vector3(RoundTo(newPos.x, (15f / 4) * (int)gridSize), RoundTo(newPos.y, 1), RoundTo(newPos.z, (15f / 4) * (int)gridSize));
//MovingObject.transform.position = newPos;
NodeManager.instance.UpdateNode(MovingObject.GetComponent <NodePoint>(), newPos);
}
if (controls.TrackCreating.TempReorder.triggered)
{
if (MovingObject)
{
NodeManager.instance.ReOrder(MovingObject.GetComponent <NodePoint>(), (int)controls.TrackCreating.TempReorder.ReadValue <float>());
}
}
if (controls.TrackCreating.ToogleLoop.triggered)
{
TG.ToggleLoop();
}
}
else
{
//we're in the menu
Cursor.lockState = CursorLockMode.None;
Cursor.visible = true;
}
}
