public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_Kart.LocalSpeed());
// Add an observation for direction of the agent to the next checkpoint.
var next = (m_CheckpointIndex + 1) % Colliders.Length;
var nextCollider = Colliders[next];
if (nextCollider == null)
{
return;
}
var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
float distanceColliders = Vector3.Distance(nextCollider.transform.position, Colliders[m_CheckpointIndex].transform.position);
sensor.AddObservation(Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction));
sensor.AddObservation(Vector3.Distance(nextCollider.transform.position, m_Kart.transform.position) <= distanceColliders + 4f);
sensor.AddObservation(Vector3.Distance(nextCollider.transform.position, m_Kart.transform.position));
if (ShowRaycasts)
{
Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
}
m_LastAccumulatedReward = 0.0f;
m_EndEpisode = false;
for (var i = 0; i < Sensors.Length; i++)
{
var current = Sensors[i];
var xform = current.Transform;
var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
current.RayDistance, Mask, QueryTriggerInteraction.Ignore);
if (ShowRaycasts)
{
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.RayDistance, Color.green);
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.HitValidationDistance,
Color.red);
if (hit && hitInfo.distance < current.HitValidationDistance)
{
Debug.DrawRay(hitInfo.point, Vector3.up * 3.0f, Color.blue);
}
}
if (hit)
{
if (hitInfo.distance < current.HitValidationDistance)
{
m_LastAccumulatedReward += HitPenalty;
m_EndEpisode = true;
}
}
sensor.AddObservation(hit ? hitInfo.distance : current.RayDistance);
}
sensor.AddObservation(m_Acceleration);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_Kart.LocalSpeed());
// Add an observation for direction of the agent to the next checkpoint.
var next = (m_CheckpointIndex + 1) % Colliders.Length;
var nextCollider = Colliders[next];
var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
sensor.AddObservation(Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction));
if (ShowRaycasts)
{
Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
}
var accumulatedReward = 0.0f;
var endEpisode = false;
for (var i = 0; i < Sensors.Length; i++)
{
var current = Sensors[i];
var xform = current.Transform;
var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
RaycastDistance, Mask, QueryTriggerInteraction.Ignore);
if (ShowRaycasts)
{
Debug.DrawRay(AgentSensorTransform.position, xform.forward * RaycastDistance, Color.green);
Debug.DrawRay(AgentSensorTransform.position, xform.forward * RaycastDistance * current.HitThreshold,
Color.red);
}
var hitDistance = (hit ? hitInfo.distance : RaycastDistance) / RaycastDistance;
sensor.AddObservation(hitDistance);
if (hitDistance < current.HitThreshold)
{
accumulatedReward += HitPenalty;
endEpisode = true;
}
}
if (endEpisode)
{
AddReward(accumulatedReward);
EndEpisode();
OnEpisodeBegin();
}
}
public override void CollectObservations()
{
AddVectorObs(kart.LocalSpeed());
// Add an observation for direction of the agent to the next checkpoint.
var next = (checkpointIndex + 1) % Colliders.Length;
var nextCollider = Colliders[next];
var direction = (nextCollider.transform.position - kart.transform.position).normalized;
AddVectorObs(Vector3.Dot(kart.Rigidbody.velocity.normalized, direction));
if (ShowRaycasts)
{
Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
}
for (int i = 0; i < Sensors.Length; i++)
{
var current = Sensors[i];
var xform = current.Transform;
var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
RaycastDistance, Mask, QueryTriggerInteraction.Ignore);
if (ShowRaycasts)
{
Debug.DrawRay(AgentSensorTransform.position, xform.forward * RaycastDistance, Color.green);
Debug.DrawRay(AgentSensorTransform.position, xform.forward * RaycastDistance * current.HitThreshold,
Color.red);
}
var hitDistance = (hit ? hitInfo.distance : RaycastDistance) / RaycastDistance;
AddVectorObs(hitDistance);
if (hitDistance < current.HitThreshold)
{
AddReward(HitPenalty);
Done();
AgentReset();
}
}
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_tankCanonHandle.CurrentCanonAngle / m_tankCanonHandle.MaxCanonAngle);
sensor.AddObservation(m_tankCanonHandle.CurrentTowerAngle / 360f);
sensor.AddObservation(m_tankCanonHandle.CanShootNow());
sensor.AddObservation(_currentHealth / (float)MaxHealth);
sensor.AddObservation(m_Kart.LocalSpeed());
Vector3 EnemyVector = EnemyAgent.transform.position - transform.position;
sensor.AddObservation(Vector3.SignedAngle(EnemyVector, transform.forward, Vector3.up) / 180f);
sensor.AddObservation(EnemyVector.magnitude / 30f);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_Kart.LocalSpeed());
// Add an observation for direction of the agent to the next checkpoint.
var next = (m_CheckpointIndex + 1) % Colliders.Length;
var nextCollider = Colliders[next];
if (nextCollider == null)
{
return;
}
var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
sensor.AddObservation(Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction));
if (ShowRaycasts)
{
Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
}
m_LastAccumulatedReward = 0.0f;
m_EndEpisode = false;
for (var i = 0; i < Sensors.Length; i++)
{
var current = Sensors[i];
var xform = current.Transform;
var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
current.RayDistance, Mask, QueryTriggerInteraction.Ignore);
if (ShowRaycasts)
{
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.RayDistance, Color.green);
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.HitValidationDistance,
Color.red);
if (hit && hitInfo.distance < current.HitValidationDistance)
{
Debug.DrawRay(hitInfo.point, Vector3.up * 3.0f, Color.blue);
}
}
if (hit)
{
Debug.Log("Name:" + name + "hit distance " + i.ToString() + ":" + hitInfo.distance);
if (hitInfo.distance < current.HitValidationDistance)
{
m_LastAccumulatedReward += HitPenalty;
m_EndEpisode = true;
// Debug.Log("Hit Penalty:" + m_LastAccumulatedReward.ToString());
}
}
sensor.AddObservation(hit ? hitInfo.distance : current.RayDistance);
}
sensor.AddObservation(m_Acceleration);
// 2022-03-22 YY Add Check if a machine reaches the goal (Point B)
if ((point_b.transform.position.x - GOAL_SIZE <= transform.position.x &&
transform.position.x <= point_b.transform.position.x + GOAL_SIZE)
&&
(point_b.transform.position.z - GOAL_SIZE <= transform.position.z &&
transform.position.z <= point_b.transform.position.z + GOAL_SIZE))
{
Debug.Log("GOAL");
m_LastAccumulatedReward += GOAL_REWARD;
// m_EndEpisode = true;
transform.position = initialPoint;
}
}
void Update()
{
// Reset the trigger flag
if (BounceFlag)
{
BounceFlag = false;
}
Vector3 origin = transform.position;
origin.y += HeightOffset;
for (int i = 0; i < Angles.Length; i++)
{
Vector3 direction = GetDirectionFromAngle(Angles[i], Vector3.up, transform.forward);
if (Physics.Raycast(origin, direction, out RaycastHit hit, RayDistance, CollisionLayer) && Time.time > resumeTime && !hasCollided && kart.LocalSpeed() > 0)
{
// If the hit normal is pointing up, then we don't want to bounce
if (Vector3.Dot(hit.normal, Vector3.up) > 0.2f)
{
return;
}
// Calculate the incident vector of the kart colliding into whatever object
Vector3 incidentVector = hit.point - origin;
// Calculate the reflection vector using the incident vector of the collision
Vector3 hitNormal = hit.normal.normalized;
reflectionVector = incidentVector - 2 * Vector3.Dot(incidentVector, hitNormal) * hitNormal;
reflectionVector.y = 0;
kart.Rigidbody.velocity /= 2;
// Apply the bounce impulse with the reflectionVector
kart.Rigidbody.AddForce(reflectionVector.normalized * BounceFactor, ForceMode.Impulse);
// Mark that the vehicle has collided and the reset time.
kart.SetCanMove(false);
BounceFlag = hasCollided = true;
resumeTime = Time.time + PauseTime;
if (BounceSound)
{
AudioUtility.CreateSFX(BounceSound, transform.position, AudioUtility.AudioGroups.Collision, 0f);
}
return;
}
}
if (Time.time < resumeTime)
{
Vector3 targetPos = origin + reflectionVector;
Vector3 direction = targetPos - origin;
Quaternion targetRotation = Quaternion.LookRotation(direction);
kart.transform.rotation = Quaternion.Slerp(kart.transform.rotation, targetRotation, RotationSpeed * Time.deltaTime);
}
}
