private void LateUpdate()
{
if (initialized)
{
if ((anchor.position - anchorPos).sqrMagnitude > 100)
{
ResetLinks();
}
else
{
float t = Time.deltaTime * targetFrameRate;
transform.position = Vector3.Lerp(transform.position,
flip ? lookAt - (position - lookAt) : position, t);
lookAtLate = Vector3.Slerp(lookAtLate, lookAt, t);
transform.LookAt(lookAtLate);
}
anchorPos = anchor.position;
asteroidField?.UpdateBounds(lookAtLate);
}
else if (anchor.GetComponent <Rigidbody>().velocity.sqrMagnitude > Mathf.Epsilon)
{
Initialize();
}
}
public override void CollectObservations()
{
Rigidbody rb = AgentPhysics.Rigidbody;
// Measured max z is 48 with drag = 2, force multiplier = 2
// Can be higher with AdvancedAgent's additional boost.
scaledLocalVelocity = Localize(rb.velocity) * velocityScale;
AddVectorObs(Util.Sigmoid(scaledLocalVelocity));
// Measured max is 7 with angular drag = 5, torque multiplier = 1
AddVectorObs(Util.Sigmoid(Localize(rb.angularVelocity) * 0.5f));
Vector3 pos = transform.position;
CastRays(pos);
if (isBasic)
{
// Neutral values for initial training without opponents.
AddVectorObs(0); // detected agent (raycast)
AddVectorObs(1); // front opponent distance
AddVectorObs(Vector2.zero); // front opponent direction
AddVectorObs(Vector2.zero); // front opponent orientation
AddVectorObs(Vector3.zero); // front opponent velocity
AddVectorObs(1); // has front opponent
AddVectorObs(1); // rear opponent distance
AddVectorObs(Vector2.zero); // rear opponent direction
AddVectorObs(Vector2.zero); // rear opponent orientation
AddVectorObs(Vector3.zero); // rear opponent velocity
// Reward forward speed.
AddReward(scaledLocalVelocity.z * velocityRewardFactor);
// One agent per asteroid field.
asteroidField.UpdateBounds(pos);
}
}