/// <summary>
/// Checks which tile is currently occupied by the agent. True is returned if the tile has changed then and it hasn't
/// been
/// visited within the tile timeout period.
/// </summary>
/// <remarks>
/// Logic of changing the current tile is tied into this function, so GetNearestPatrolTile must be called after
/// and the result stored in a field to get accurate nearest tile. (should be refactored)
/// </remarks>
/// <param name="agentPosition"></param>
/// <returns></returns>
public bool CanRewardAgent(Transform agentPosition)
{
var nearestTile =
agentPosition.GetNearestTile(1, GuardTiles, tile => true).First();
// check change in tile (no change in tile, no reward given)
if (_currentTile is null || nearestTile.Coords != _currentTile.Coords)
{
// change current tile if moved
_currentTile = nearestTile;
// check that current tile has not been recently visited
if (!_currentTile.RecentlyVisitedByGuard)
{
// if it hasn't, visit it and change its status to visited
_currentTile.RecentlyVisitedByGuard = true;
// if all tiles have been visited then reset them all apart from the current tile
if (GuardTiles.All(tile => tile.RecentlyVisitedByGuard))
{
GuardTiles
.Where(tile => !Equals(tile, _currentTile))
.ToList()
.ForEach(tile => tile.RecentlyVisitedByGuard = false);
}
return(true);
}
}
return(false);
}
public PatrolGuardTileManager(GameObject surrogateGameObject, IEnumerable <IEnvTile> envTiles,
Transform agentTransform)
{
foreach (var envTile in envTiles)
{
GuardTiles.Add(new PatrolGuardTile(surrogateGameObject, envTile.Position, envTile.Coords));
}
_currentTile = agentTransform.GetNearestTile(1, GuardTiles, x => true).First();
_currentTile.RecentlyVisitedByGuard = true;
}
