public override void AgentReset()
{
step = 0;
Vector3 pos = new Vector3(Random.Range(cr_.minBound_.x, cr_.maxBound_.x), 0.5f, Random.Range(cr_.minBound_.z, cr_.maxBound_.z));
Vector3 tar = new Vector3(Random.Range(cr_.minBound_.x, cr_.maxBound_.x), 0.5f, Random.Range(cr_.minBound_.z, cr_.maxBound_.z));
agent_.init(pos, tar);
cr_.setAgent(ref agent_, sw_id);
gameObject.transform.position = pos;
target_.transform.position = tar;
}
void ResetAgents()
{
agents_.Clear();
foreach (var wa in walkerAgents_)
{
Destroy(wa);
}
walkerAgents_.Clear();
foreach (var tar in targetAgents_)
{
Destroy(tar);
}
targetAgents_.Clear();
for (int i = 0; i < numAgents_; i++)
{
float hue = (float)i / numAgents_;
Color newColor = Color.HSVToRGB(hue, 1f, 1f);
Color newColorDark = Color.HSVToRGB(hue, 1f, 0.5f);
Vector3 pos = new Vector3(Random.Range(minBound_.x, maxBound_.x), 0.5f, Random.Range(minBound_.z, maxBound_.z));
Vector3 tar = new Vector3(Random.Range(minBound_.x, maxBound_.x), 0.5f, Random.Range(minBound_.z, maxBound_.z));
SW S = new SW();
S.init(pos, tar);
agents_.Add(S);
GameObject walkerClone = Instantiate(walkerPrefab_, pos, Quaternion.identity);
walkerClone.GetComponent <MeshRenderer>().material.color = newColor;
GameObject targetClone = Instantiate(targetPrefab_, tar, Quaternion.identity);
targetClone.GetComponent <MeshRenderer>().material.color = newColorDark;
if (imitationLearning)
{
if (i == 0)
{
walkerClone.GetComponent <SWAgent>().GiveBrain(TeacherBrain_.GetComponent <Brain>());
}
else
{
walkerClone.GetComponent <SWAgent>().GiveBrain(StudentBrain_.GetComponent <Brain>());
}
}
else
{
walkerClone.GetComponent <SWAgent>().GiveBrain(SocialWalkerBrain_.GetComponent <Brain>());
}
walkerClone.GetComponent <SWAgent>().sw_id = i;
walkerClone.GetComponent <SWAgent>().target_ = targetClone;
walkerAgents_.Add(walkerClone);
targetAgents_.Add(targetClone);
agentActive_.Add(true);
}
}
