public override void StateBehaviour()
{
timer += Time.deltaTime;
Wisp.transform.position = Wisp.transform.position + Wisp.transform.forward * Wisp.Speed * Time.deltaTime;
Collider[] colliders = Physics.OverlapSphere(Wisp.transform.position, 0.5f);
if (colliders.Length > 0)
{
Wisp.SetFitnessAndDestroy(colliders);
}
RaycastHit raycastHitForward;
Physics.SphereCast(Wisp.transform.position, 0.5f, Wisp.transform.forward, out raycastHitForward, Wisp.forwardRaycastDistance);
RaycastHit raycastHitLeft;
Vector3 left = Quaternion.AngleAxis(-60f, Vector3.up) * Wisp.transform.forward;
Physics.SphereCast(Wisp.transform.position, 0.5f, left, out raycastHitLeft, Wisp.forwardRaycastDistance);
RaycastHit rayCastHitRight;
Vector3 right = Quaternion.AngleAxis(60f, Vector3.up) * Wisp.transform.forward;
Physics.SphereCast(Wisp.transform.position, 0.5f, right, out rayCastHitRight, Wisp.forwardRaycastDistance);
float[] inputs = new float[] {
//Raycast hit distances
raycastHitForward.distance,
raycastHitLeft.distance,
rayCastHitRight.distance,
//Wisp position
Wisp.transform.position.x,
Wisp.transform.position.y,
Wisp.transform.position.z,
//Wisp rotation
Wisp.transform.rotation.eulerAngles.x,
Wisp.transform.rotation.eulerAngles.y,
Wisp.transform.rotation.eulerAngles.z,
//Target position
Wisp.targetPosition.position.x,
Wisp.targetPosition.position.y,
Wisp.targetPosition.position.z,
};
float[] outputs = Wisp.neuralNetworkGathering.FeedForward(inputs);
//Rotate left based on outputs 0
if (outputs[0] > 0.0f)
{
Wisp.transform.Rotate(0.0f, -10.0f, 0.0f);
}
//Rotate right based on outputs 1
if (outputs[1] > 0.0f)
{
Wisp.transform.Rotate(0.0f, 10.0f, 0.0f);
}
}
