/// <summary>
/// Check for collision with a target.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Target))
{
touchingTarget = true;
agent.AgentReset();
}
}
/// <summary>
/// Check for collision with ground, and optionally penalize agent.
/// </summary>
void OnCollisionEnter(Collision col)
{
if (col.transform.CompareTag(Ground))
{
touchingGround = true;
if (penalizeGroundContact)
{
agent.SetReward(groundContactPenalty);
}
if (agentDoneOnGroundContact)
{
agent.AgentReset();
agent.Done();
}
}
}
