void FixedUpdate()
{
m_ResetTimer += 1;
if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
{
m_AgentGroup.GroupEpisodeInterrupted();
ResetScene();
}
//Hurry Up Penalty
m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps);
}
public void GoalTouched(Team scoredTeam)
{
if (scoredTeam == Team.Blue)
{
m_BlueAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps);
m_PurpleAgentGroup.AddGroupReward(-1);
}
else
{
m_PurpleAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps);
m_BlueAgentGroup.AddGroupReward(-1);
}
m_PurpleAgentGroup.EndGroupEpisode();
m_BlueAgentGroup.EndGroupEpisode();
ResetScene();
}
public void GoalTouched(Team scoredTeam)
{
if (scoredTeam == Team.Blue)
{
TeamBlue.AddGroupReward(1 - timer / MaxEnvironmentSteps);
TeamRed.AddGroupReward(-1);
}
else
{
m_TeamRed.AddGroupReward(1 - timer / MaxEnvironmentSteps);
TeamRed.AddGroupReward(-1);
}
TeamBlue.EndGroupEpisode();
TeamRed.EndGroupEpisode();
ResetScene();
}
public void TestRegisterMultipleAgent()
{
var agentGo1 = new GameObject("TestAgent");
agentGo1.AddComponent <TestAgent>();
var agent1 = agentGo1.GetComponent <TestAgent>();
var agentGo2 = new GameObject("TestAgent");
agentGo2.AddComponent <TestAgent>();
var agent2 = agentGo2.GetComponent <TestAgent>();
SimpleMultiAgentGroup agentGroup = new SimpleMultiAgentGroup();
agentGroup.RegisterAgent(agent1); // register
Assert.AreEqual(agentGroup.GetRegisteredAgents().Count, 1);
agentGroup.UnregisterAgent(agent2); // unregister non-member agent
Assert.AreEqual(agentGroup.GetRegisteredAgents().Count, 1);
agentGroup.UnregisterAgent(agent1); // unregister
Assert.AreEqual(agentGroup.GetRegisteredAgents().Count, 0);
agentGroup.RegisterAgent(agent1);
agentGroup.RegisterAgent(agent1); // duplicated register
Assert.AreEqual(agentGroup.GetRegisteredAgents().Count, 1);
agentGroup.RegisterAgent(agent2); // register another
Assert.AreEqual(agentGroup.GetRegisteredAgents().Count, 2);
// test add/set group rewards
agentGroup.AddGroupReward(0.1f);
Assert.AreEqual(0.1f, agent1._GroupReward);
agentGroup.AddGroupReward(0.5f);
Assert.AreEqual(0.6f, agent1._GroupReward);
agentGroup.SetGroupReward(0.3f);
Assert.AreEqual(0.3f, agent1._GroupReward);
// unregistered agent should not receive group reward
agentGroup.UnregisterAgent(agent1);
agentGroup.AddGroupReward(0.2f);
Assert.AreEqual(0.3f, agent1._GroupReward);
Assert.AreEqual(0.5f, agent2._GroupReward);
// dispose group should automatically unregister all
agentGroup.Dispose();
Assert.AreEqual(0, agent1._GroupId);
Assert.AreEqual(0, agent2._GroupId);
}
public void UnlockDoor()
{
m_AgentGroup.AddGroupReward(1f);
StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
print("Unlocked Door");
m_AgentGroup.EndGroupEpisode();
ResetScene();
}
public void CarFinished(MLCar carId)
{
m_AgentGroup.AddGroupReward(1f);
CarDisable(carId);
}
