// Update at regular time intervals - useful for physics
void FixedUpdate()
{
bool failedX = agentX.applyForce(Time.deltaTime);
bool failedZ = agentZ.applyForce(Time.deltaTime);
int failures = agentX.getState().failures + agentZ.getState().failures;
trialTxt.text = "Trial " + failures;
timeTxt.text = "Time: " + Time.timeSinceLevelLoad.ToString("n3") + "s";
stepsTxt.text = "Steps: " + agentX.getState().steps;
maxTimeTxt.text = "Max time: " + maxTime.ToString("n3") + "s";
if (Time.timeSinceLevelLoad > maxTime)
{
maxTime = Time.timeSinceLevelLoad;
}
if (failedX || failedZ)
{
agentX.setMaxTime(maxTime);
agentZ.setMaxTime(maxTime);
String text = "Trial: " + failures +
"\tSteps: " + agentX.getState().steps +
"\tTime: " + Time.timeSinceLevelLoad.ToString("n3") + "s" +
"\tAngle: (" + agentX.getState().angle + ", " + agentZ.getState().angle + ")" +
"\t Angle velocity: (" + agentX.getState().angle_speed + ", " + agentZ.getState().angle_speed + ")" +
"\tCart pos: " + cart.position;
Debug.Log(text);
LogToFile("PoleCart3D.log", text);
if (failedX)
{
agentX.saveState("trainingX.data");
}
else
{
agentZ.saveState("trainingZ.data");
}
SceneManager.LoadScene(0);
}
}
// Update at regular time intervals - useful for physics
void FixedUpdate()
{
bool failed = agent.applyForce(Time.deltaTime);
trialTxt.text = "Trial " + agent.getState().failures.ToString();
timeTxt.text = "Time: " + Time.timeSinceLevelLoad.ToString("n3") + "s";
stepsTxt.text = "Steps: " + agent.getState().steps;
maxTimeTxt.text = "Max time: " + maxTime.ToString("n3") + "s";
if (Time.timeSinceLevelLoad > maxTime)
{
maxTime = Time.timeSinceLevelLoad;
}
if (failed)
{
float height = weight.position.y - cart.position.y;
float x = weight.position.x - cart.position.x;
float z = weight.position.z - cart.position.z;
float angX = Mathf.Atan2(x, height) * Mathf.Rad2Deg;
agent.setMaxTime(maxTime);
String text = "Trial: " + agent.getState().failures +
"\tSteps: " + agent.getState().steps +
"\tTime: " + Time.timeSinceLevelLoad +
"\tAngle: " + angX +
"\t Angle velocity: " + agent.getState().angle_speed +
"\tCart pos: " + cart.position;
Debug.Log(text);
LogToFile("PoleCart3D.log", text);
agent.getState();
agent.saveState("training.data");
SceneManager.LoadScene(0);
}
}