public void ApplyEngineAction(EngineActions action)
{
var tip = new[] { Math.Sin(this.transform.Rotation), Math.Cos(this.transform.Rotation) };
var side = new[] { -tip[1], tip[0] };
var dispersion = new[] { ((this.random.NextDouble() * 2) - 1) / LunarConstants.SCALE, ((this.random.NextDouble() * 2) - 1) / LunarConstants.SCALE };
if (action == EngineActions.Main)
{
var power = 1f;
var ox = tip[0] * (4 / LunarConstants.SCALE + 2 * dispersion[0]) + side[0] * dispersion[1];
var oy = -tip[1] * (4 / LunarConstants.SCALE + 2 * dispersion[0]) - side[1] * dispersion[1];
var impulsePosition = new Vector2(this.transform.Position.X + (float)ox, this.transform.Position.Y + (float)oy);
var impulsePower = new Vector2((float)-ox * LunarConstants.MAIN_ENGINE_POWER * power, (float)oy * LunarConstants.MAIN_ENGINE_POWER * power);
this.body.ApplyLinearImpulse(impulsePower, impulsePosition, true);
this.particlesEmitter.CreateParticle(3.5f, impulsePosition, power, impulsePower * -1f);
}
if (action == EngineActions.Left || action == EngineActions.Right)
{
var power = 1f;
var direction = (int)action - 2;
var ox = tip[0] * dispersion[0] + side[0] * (3 * dispersion[1] + direction * LunarConstants.SIDE_ENGINE_AWAY / LunarConstants.SCALE);
var oy = -tip[1] * dispersion[0] - side[1] * (3 * dispersion[1] + direction * LunarConstants.SIDE_ENGINE_AWAY / LunarConstants.SCALE);
var impulsePosition = new Vector2(this.transform.Position.X + (float)ox - (float)tip[0] * 17 / LunarConstants.SCALE, this.transform.Position.Y + (float)oy + (float)tip[1] * LunarConstants.SIDE_ENGINE_HEIGHT / LunarConstants.SCALE);
var impulsePower = new Vector2((float)-ox * LunarConstants.SIDE_ENGINE_POWER * power, (float)oy * LunarConstants.SIDE_ENGINE_POWER * power);
this.body.ApplyLinearImpulse(impulsePower, impulsePosition, true);
this.particlesEmitter.CreateParticle(3.5f, impulsePosition, power, impulsePower * -1f);
}
}
public void ApplyEngineAction(EngineActions action)
{
var rotation = Quaternion.Identity;
var enginePenalty = 0f;
switch (action)
{
case EngineActions.None:
break;
case EngineActions.YawPositive:
this.shipBody.ApplyTorqueImpulse(this.transform.WorldTransform.Up * rotationImpulse);
enginePenalty -= 0.03f;
break;
case EngineActions.YawNegative:
this.shipBody.ApplyTorqueImpulse(this.transform.WorldTransform.Up * -rotationImpulse);
enginePenalty -= 0.03f;
break;
case EngineActions.RollPositive:
this.shipBody.ApplyTorqueImpulse(this.transform.WorldTransform.Forward * -rotationImpulse);
enginePenalty -= 0.03f;
break;
case EngineActions.RollNegative:
this.shipBody.ApplyTorqueImpulse(this.transform.WorldTransform.Forward * rotationImpulse);
enginePenalty -= 0.03f;
break;
case EngineActions.Main:
var impulse = 0.7f * this.transform.LocalTransform.Up;
this.shipBody.ApplyImpulse(impulse);
this.dust.MainEngine = true;
enginePenalty -= 0.3f;
break;
case EngineActions.PitchPositive:
this.shipBody.ApplyTorqueImpulse(this.transform.WorldTransform.Left * rotationImpulse);
enginePenalty -= 0.03f;
break;
case EngineActions.PitchNegative:
this.shipBody.ApplyTorqueImpulse(this.transform.WorldTransform.Left * -rotationImpulse);
enginePenalty -= 0.03f;
break;
default:
break;
}
if (this.numActions < MaxActions)
{
this.actionsQueue[this.numActions++] = action;
}
}
private ActionResult GetActionResult(EngineActions action)
{
var observation = this.GetUpdatedObservation();
var gameOver = this.LanderBodyCollided; // || !this.LanderAwake
return(new ActionResult
{
Done = gameOver,
Observation = observation,
Reward = 0f
});
}
private ActionResult GetActionResult(EngineActions action)
{
var observation = new Observation
{
PosX = this.landerBody.Transform2D.Position.X / ((LunarConstants.VIEWPORT_W / LunarConstants.SCALE) / 2),
PosY = (LunarConstants.VIEWPORT_H - this.landerBody.Transform2D.Position.Y) / (LunarConstants.VIEWPORT_H / LunarConstants.SCALE),
VelX = this.landerBody.LinearVelocity.X * ((LunarConstants.VIEWPORT_W / LunarConstants.SCALE) / 2) / LunarConstants.FPS,
VelY = this.landerBody.LinearVelocity.Y * ((LunarConstants.VIEWPORT_H / LunarConstants.SCALE) / 2) / LunarConstants.FPS,
Angle = this.landerBody.RigidBody.Angle,
AngVel = 20f * this.landerBody.AngularVelocity / LunarConstants.FPS,
LeftContact = this.leftCollided ? 1f : 0f,
RightContact = this.rightCollided ? 1f : 0f
};
var reward = 0d;
var shaping = -100 * Math.Sqrt(observation.PosX * observation.PosX + observation.PosY * observation.PosY)
- 100 * Math.Sqrt(observation.VelX * observation.VelX + observation.VelY * observation.VelY)
- 100 * Math.Abs(observation.Angle) + 10 * observation.LeftContact + 10 * observation.LeftContact;
if (this.previousShaping != null)
{
reward = shaping - this.previousShaping.Value;
}
this.previousShaping = shaping;
reward -= (action == EngineActions.Main ? 1 : 0) * 0.3;
reward -= (action == EngineActions.Left || action == EngineActions.Right ? 1 : 0) * 0.3;
var done = false;
if (this.gameOver || Math.Abs(observation.PosX) >= 1)
{
done = true;
reward = -100;
}
if (!this.landerBody.Awake)
{
done = true;
reward = 100;
}
return(new ActionResult
{
Done = done,
Observation = observation,
Reward = (float)reward
});
}
private void OnActionReceived(object sender, EngineActions e)
{
this.shipComponent.ApplyEngineAction(e);
}
