void GoToNewGoal()
{
if (!WithinGroup)
{
if (CurrentGoal == null)
{
CurrentGoal = Node.GetClosestNode(transform.position, "Untagged");
}
else
{
CurrentGoal = CurrentGoal.GetNextNode(); //PointsOfInterest[Random.Range(0, PointsOfInterest.Count)];
}
}
else
{
this.CurrentGoal = Node.GetRandomNode(this.Group);
}
if (CurrentGoal == null)
{
return;
}
_navAgent.SetDestination(CurrentGoal.transform.position);
_navAgent.enabled = true;
CurrentAction = Enum.Action.Walking;
_goalDirection = (CurrentGoal.transform.position - transform.position).normalized;
}
public static List <QValue> updateTable(State currentState, Enum.Action actionOne, State nextState, Enum.Action actionTwo, float reward, List <QValue> qValues)
{
var firstQValue = getQValueEntry(currentState, actionOne, qValues);
var secondQValue = getQValueEntry(nextState, actionTwo, qValues);
firstQValue.setValue(firstQValue.getValue() + learningRate * (reward + gamma * secondQValue.getValue() - firstQValue.getValue()));
return(qValues);
}
public static List <EValue> updateETable(State currentState, Enum.Action actionOne, State nextState, Enum.Action actionTwo, List <EValue> eValues)
{
var eValue = getEValueEntry(currentState, actionOne, eValues);
if (currentState.Equals(nextState) && actionOne == actionTwo)
{
eValue.setValue((gamma * lambda * eValue.getValue()) + 1);
}
else
{
eValue.setValue(gamma * lambda * eValue.getValue());
}
return(eValues);
}
void StartAction(Enum.Action action)
{
CurrentAction = action;
switch (action)
{
case Enum.Action.Standing:
_actionDuration = 2.0f;
break;
case Enum.Action.Walking:
case Enum.Action.Running:
GoToNewGoal();
break;
case Enum.Action.Turning:
break;
case Enum.Action.SitDown:
_animator.SetTrigger("SitDown");
_actionDuration = 15.0f;
StartAction(Enum.Action.Sitting);
break;
case Enum.Action.Sitting:
break;
case Enum.Action.StandUp:
_animator.SetTrigger("StandUp");
StartAction(Enum.Action.Standing);
break;
default:
break;
}
}
public EValue(State state, Enum.Action action, float reward)
{
this.state = state;
this.action = action;
this.value = reward;
}
public EValue getEValue(State state, Enum.Action action, List <EValue> eValues)
{
return(eValues.Where(i => i.getState().Equals(state) && i.getAction().Equals(action)).FirstOrDefault());
}
public void GoToNode(Node node)
{
CurrentGoal = node;
CurrentAction = Enum.Action.Walking;
}
