void ResetEnvironment()
{
actionSkipCounter = actionFrequency;
FlightSpawnProperties properties = (limitMode == 1 ? FlightSpawnProperties.GenerateLimitTesting(difficulty) : FlightSpawnProperties.Generate(difficulty));
airplane.transform.position = properties.position; // new Vector3(0, 100, 750);
airplane.transform.rotation = properties.rotation; // Quaternion.Euler(0, 180, 0);
airplane.velocity = properties.velocity; // - 30 * Vector3.forward; // airplane.transform.forward;
airplane.angularVelocity = properties.angularVelocity; // Vector3.zero;
done = false;
touchedDown = false;
runwayTouchDownDetector.touchDown = false;
terrainTouchDownDetector.touchDown = false;
actionsOld = new float[3] {
0, 0, 0
};
responseCount = 0;
totalActionRewardPenalty = 0;
response = new AgentController.ActionResponse();
response.actions = new float[] { 0, 0, 0 };
response.symbol = AgentController.AgentActionSymbol.Continue;
response.msg = "";
aircraftScript.ResetControlInput();
}
private void Update()
{
// Check UI buttons
if (resetButtonPressed)
{
ResetEnvironment();
resetButtonPressed = false;
}
if (exitButtonPressed)
{
agentController.CloseAgent();
Close();
return;
}
// Update state
UpdateState();
onStateChange?.Invoke(state);
// Calculate reward
float reward = 1f;
if (state[5] > 0.5f)
{
reward -= (state[3] - state[0]) * (state[3] - state[0]);
}
else
{
// new method
float rotationDelta = state[4] - state[1];
reward = HillFunction(rotationDelta, 0, 5) - 0.01f * Mathf.Abs(lastAction);
// old method
//reward -= Mathf.Abs((state[4] - state[1])/45);
//reward -= 0.05f * lastAction * lastAction;
}
// Check done
if (Mathf.Abs(state[1]) > 135f)
{
reward = -100;
done = true;
}
// Get Action from agent
AgentController.ActionResponse response = agentController.GetActionResponse(0, state, reward, done);
// Perform configurations received from custom message string in agent response
if (response.msg.Length > 0)
{
BoxLogUI.instance.Log("Received message from agent: ");
foreach (string s in response.msg.Split(messageArgumentSeparator, System.StringSplitOptions.None))
{
BoxLogUI.instance.Log(s);
HandleMessage(s);
}
}
// Perform Exit or Reset on environment if told so by agent
if (response.symbol == AgentController.AgentActionSymbol.Exit)
{
Close();
}
else if (response.symbol == AgentController.AgentActionSymbol.Reset)
{
ResetEnvironment();
lastAction = 0;
return;
}
else
{
// Execute physics
boxMechanics.rotationForce = response.actions[0];
boxMechanics.ManualFixedUpdate();
Physics.Simulate(0.02f);
onActionValueChange?.Invoke(response.actions[0]);
lastAction = response.actions[0];
}
}
// Update is called once per frame
void Update()
{
// Check UI buttons
if (initialRun || resetOrdered)
{
ResetEnvironment();
resetOrdered = false;
initialRun = false;
return;
}
if (exitOrdered)
{
agentController.CloseAgent();
Close();
return;
}
// Execute Physics
ExecutePhysics();
// Update state
analytics.UpdateAnalytics();
UpdateState();
onStateChange?.Invoke(state);
// Calculate reward
currentReward += CalculateReward();
// Check done
if (touchedDown && !done)
{
onEpisodeEnded?.Invoke(landingReport);
done = true;
}
if (airplane.position.z < 0)
{
done = true;
}
// Get action from agent
if (actionSkipCounter == actionFrequency || done)
{
for (int i = 0; i < actionsOld.Length; i++)
{
actionsOld[i] = response.actions[i];
}
response = agentController.GetActionResponse(0, state, currentReward, done);
responseCount++;
aircraftScript.SetControlInput(response.actions);
onActionValueChange?.Invoke(response.actions);
actionSkipCounter = 1;
currentReward = 0;
}
else
{
actionSkipCounter++;
}
// Perform configurations received from custom message string in agent response
if (response.msg.Length > 0)
{
//BoxLogUI.instance.Log("Received message from agent: ");
foreach (string s in response.msg.Split(messageArgumentSeparator, System.StringSplitOptions.None))
{
//BoxLogUI.instance.Log(s);
HandleMessage(s);
}
}
// Perform exit or reset on environment if told so by agent, else run physics
if (response.symbol == AgentController.AgentActionSymbol.Exit)
{
Close();
}
else if (response.symbol == AgentController.AgentActionSymbol.Reset)
{
resetOrdered = true;
}
}
