void Update()
{
input[0] = Input.GetAxis("Horizontal");
input[1] = Input.GetAxis("Vertical");
input[2] = Input.GetAxis("Rudder");
input[3] = Input.GetAxis("Engine");
AS.SetControlInput(input);
}
// Update is called once per frame
void Update()
{
// Check UI buttons
if (initialRun || resetOrdered)
{
ResetEnvironment();
resetOrdered = false;
initialRun = false;
return;
}
if (exitOrdered)
{
agentController.CloseAgent();
Close();
return;
}
// Execute Physics
ExecutePhysics();
// Update state
analytics.UpdateAnalytics();
UpdateState();
onStateChange?.Invoke(state);
// Calculate reward
currentReward += CalculateReward();
// Check done
if (touchedDown && !done)
{
onEpisodeEnded?.Invoke(landingReport);
done = true;
}
if (airplane.position.z < 0)
{
done = true;
}
// Get action from agent
if (actionSkipCounter == actionFrequency || done)
{
for (int i = 0; i < actionsOld.Length; i++)
{
actionsOld[i] = response.actions[i];
}
response = agentController.GetActionResponse(0, state, currentReward, done);
responseCount++;
aircraftScript.SetControlInput(response.actions);
onActionValueChange?.Invoke(response.actions);
actionSkipCounter = 1;
currentReward = 0;
}
else
{
actionSkipCounter++;
}
// Perform configurations received from custom message string in agent response
if (response.msg.Length > 0)
{
//BoxLogUI.instance.Log("Received message from agent: ");
foreach (string s in response.msg.Split(messageArgumentSeparator, System.StringSplitOptions.None))
{
//BoxLogUI.instance.Log(s);
HandleMessage(s);
}
}
// Perform exit or reset on environment if told so by agent, else run physics
if (response.symbol == AgentController.AgentActionSymbol.Exit)
{
Close();
}
else if (response.symbol == AgentController.AgentActionSymbol.Reset)
{
resetOrdered = true;
}
}
