public override void CollectObservations()
{
UpdateTargetObs();
AddVectorObs(targetPolarAngle / 180f); // 2
AddVectorObs(Util.Sigmoid(targetDistance) * 2f - 1f); // 1
AddVectorObs(NormalizeSpeed(drone.CrntSpeed)); // 1
AddVectorObs(drone.CrntDir.y); // 1 pitch
AddVectorObs(rayDetection.CastRays(drone, 10f));
}
public override void CollectObservations()
{
UpdateTargetObs();
AddVectorObs(targetPolarAngle / 180f); // 2
AddVectorObs(Util.Sigmoid(targetDistance) * 2f - 1f); // 1
AddVectorObs(NormalizeSpeed(drone.CrntSpeed)); // 1
AddVectorObs(drone.CrntDir.y); // 1 pitch
if (detectionMode == DetectionMode.Raycast)
{
AddVectorObs(rayDetection.CastRays(drone, 10f));
}
else
{
cam.transform.position = drone.Transform.position - drone.CrntDir;
cam.transform.rotation = Quaternion.LookRotation(drone.CrntDir);
}
}
