public override void AgentAction(float[] vectorAction, string textAction)
{
for (int i = 0; i < vectorAction.Length; i++)
{
rocketController.SetThrust(i, Mathf.Clamp(vectorAction[i], -1f, 1f) >= 0f);
}
Vector2 velDelta = goalVel - (new Vector2(rb.velocity.x, rb.velocity.y));
float deltaMag = velDelta.magnitude < 0.01f ? 0.01f : velDelta.magnitude;
float rew = 1f / (deltaMag / goalVel.magnitude);
rew /= 1000f;
SetReward(rew);
if (Mathf.Abs(goalVel.magnitude - (new Vector2(rb.velocity.x, rb.velocity.y)).magnitude) > 10f)
{
SetReward(-1f);
Done();
}
if (timeRun <= 0f)
{
Done();
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
//if (brain.brainParameters.vectorActionSpaceType == SpaceType.discrete)
//{
for (int i = 0; i < vectorAction.Length; i++)
{
rocketController.SetThrust(i, Mathf.Clamp(vectorAction[i], -1f, 1f) >= 0f);
}
//}
if (Vector3.Distance(rocketObject.transform.position, goal.transform.position) > 50f)
{
//Done();
SetReward(-1f);
}
else
{
float curDistance = Vector3.Distance(goal.transform.position, rocketObject.transform.position);
/*if (curDistance < lastDistance)
* {
* SetReward(0.1f);
* }
* else
* {
* SetReward(-0.1f);
* }*/
//Debug.Log(lastDistance - curDistance);
SetReward(lastDistance - curDistance);
//Debug.Log("Distance: " + curDistance.ToString());
lastDistance = curDistance;
}
if (timeRun <= 0f && randomiseStart)
{
Done();
}
}
// Update is called once per frame
void Update()
{
// Blablabla
/*
* // Da wird geschaut ob die Maus Taste gedrückt wird
* if (Input.GetMouseButtonDown(0))
* {
* RaycastHit hit;
* // Hier wird eine Linie von der Kamera durch den Maus Zeiger auf die Szene gezogen, wenn was getroffen wird geht er in die if rein
* if (Physics.Raycast(Camera.main.ScreenPointToRay(Input.mousePosition), out hit))
* {
* // Hier holt man sich das Objekt das getroffen wurde und kann schauen, was für eins man getroffen, also quasi geklickt hat
* GameObject getroffenesObjekt = hit.transform.gameObject;
*
* // Zum Beispiel ist es ein Objekt mit dem Namen "Box Nummer 1"
* if (getroffenesObjekt.name == "Box Nummer 1")
* {
* // Mach blablabla
* }
* }
* }
*/
if (refreshGoal)
{
refreshGoal = false;
SetGoal(currentGoal);
}
if (landingAgent.enabled)
{
if (rocketRB.velocity.magnitude < 0.1f)
{
standStillFor += Time.deltaTime;
}
else
{
standStillFor = 0f;
}
if (standStillFor >= 0.4f)
{
landingAgent.enabled = false;
allOff = true;
rocketController.SetThrust(0, false);
rocketController.SetThrust(1, false);
rocketController.SetThrust(2, false);
rocketController.SetThrust(3, false);
}
}
if (allOff)
{
rocketController.SetThrust(0, false);
rocketController.SetThrust(1, false);
rocketController.SetThrust(2, false);
rocketController.SetThrust(3, false);
// TODO alter
int randGoal = Random.Range(0, kiNavPlanner.Stations.Count);
SetGoal(kiNavPlanner.Stations[randGoal]);
}
if (waitForLowVelocity)
{
if (rocketRB.velocity.magnitude < landingVelThresh)
{
waitForLowVelocity = false;
updateTempGoal();
}
}
}
public override void AgentAction(float[] vectorAction, string textAction)
{
//if (brain.brainParameters.vectorActionSpaceType == SpaceType.discrete)
//{
for (int i = 0; i < vectorAction.Length; i++)
{
rocketController.SetThrust(i, Mathf.Clamp(vectorAction[i], -1f, 1f) >= 0f);
}
//}
if (Vector3.Distance(rocketObject.transform.position, landingPlatform.transform.position + new Vector3(0f, 1.4f, 0f)) > 30f)
{
if (randomiseStart)
{
Done();
}
SetReward(-3f);
}
else if (landingPlatformS.StandsOn(rocketObject.transform) == false)
{
float curDistance = Vector3.Distance(landingPlatform.transform.position + new Vector3(0f, 1.4f, 0f), rocketObject.transform.position);
float velMag = rb.velocity.magnitude;
if (velMag < 0.05f)
{
velMag = 0.05f;
}
float angleCos = Mathf.Cos(rocketObject.transform.rotation.eulerAngles.z * Mathf.PI / 180f);
float delta = lastDistance - curDistance;
float rew = delta * angleCos;
if (angleCos < 0f && delta > 0f)
{
delta *= -1f;
}
SetReward(delta /* * (curDistance / velMag)*/);
//Debug.Log("Distance: " + curDistance.ToString());
lastDistance = curDistance;
}
else if (landingPlatformS.StandsOn(rocketObject.transform))
{
float velMag = rb.velocity.magnitude;
float angleCos = Mathf.Cos(rocketObject.transform.rotation.eulerAngles.z * Mathf.PI / 180f);
if (firstTimeEnter)
{
firstTimeEnter = false;
enterVelocity = velMag;
}
velMag = 1f - velMag;
if (velMag < -1f)
{
velMag = -1f;
}
//angleCos = (angleCos - 0.5f);
//Done();
//Debug.Log("Reward: " + (angleCos + velMag).ToString());
SetReward(velMag * angleCos);
if (randomiseStart)
{
Done();
}
}
if (timeRun <= 0f && randomiseStart)
{
float curDistance = Vector3.Distance(landingPlatform.transform.position + new Vector3(0f, 1.4f, 0f), rocketObject.transform.position);
Done();
if (curDistance < 1.6f)
{
//SetReward(0.2f);
}
}
}