// Update is called once per frame
void Update()
{
//GetComponent<Rigidbody>().velo
if (Timer.time - lastEpisode > Consts.episodeTime * 2)
{
randomPos();
lastEpisode = Timer.time;
}
float rayDistance = Consts.OutsideGroundLength * 0.8f;
float[] rayAngles = { 90f };
string[] detectableObjects = { "obstacle" };
List <float> buffer = rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f);
movementTargetPosition = transform.position;
if (Time.frameCount % 30 == 0)
{
randommove = EnemyController.GetRandomPosition();
}
//Debug.Log (name + randommove[0] + " " + randommove[1]);
movementTargetPosition.x += randommove[0] * 10;
movementTargetPosition.z += randommove[1] * 10;
Vector3 deltaTarget = movementTargetPosition - transform.position;
lookAtPos = transform.position + deltaTarget.normalized * 2.0f;
rb.AddForce(deltaTarget.normalized * Consts.enemyMoveSpeed, ForceMode.VelocityChange);
if (rb.velocity.magnitude > Consts.enemyMoveSpeed)
{
rb.velocity = rb.velocity.normalized * Consts.enemyMoveSpeed;
}
}
public override void CollectObservations()
{
float rayDistance = Consts.OutsideGroundLength * 0.8f;
float[] rayAngles = { 20f, 90f, 160f, 45f, 135f, 70f, 110f };
string[] detectableObjects = { "obstacle", "wall", "agent", "target" };
List <float> buffer = rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0f, 0f);
AddVectorObs(buffer);
AddVectorObs(transform.forward.x);
AddVectorObs(transform.forward.z);
}