void GiveFinalRewardsAndEnd(float blue_reward, float red_reward)
{
foreach (GameObject player in players)
{
CarRLAgent_1v1 script = player.GetComponent <CarRLAgent_1v1>();
if (script.GetTeam() == "Blue")
{
script.AddReward(blue_reward);
script.EndEpisode();
}
else if (script.GetTeam() == "Red")
{
script.AddReward(red_reward);
script.EndEpisode();
}
else
{
throw new System.Exception("UNKNOWN AGENT TAG");
}
}
}
public void RewardBallVelocity()
{
float epsilon = 4.0f;
float ball_towards_red = 0.0f;
float x_vel = this.gameObject.GetComponent <Rigidbody>().velocity.x;
if (x_vel > epsilon)
{
ball_towards_red = 1;
}
else if (x_vel < -epsilon)
{
ball_towards_red = -1;
}
float reward = 0.2f / players[0].GetComponent <CarRLAgent_1v1>().maxStep;
if (ball_towards_red != 0.0f)
{
foreach (GameObject player in players)
{
CarRLAgent_1v1 script = player.GetComponent <CarRLAgent_1v1>();
if (script.GetTeam() == "Blue")
{
script.AddReward(ball_towards_red * reward);
}
else if (script.GetTeam() == "Red")
{
script.AddReward(-ball_towards_red * reward);
}
else
{
throw new System.Exception("UNKNOWN AGENT TAG");
}
}
}
}