public override void _Ready()
{
Node n = this;
Node rootNode = GetNode("/root");
while (agent == null && n != rootNode)
{
Node parent = n.GetParent();
n = parent;
agent = parent as RLAgent;
}
if (resettable)
{
agent.AddResetListener(this);
}
if (usePathAsID)
{
this.id = GetPath();
}
else
{
this.id = Name;
}
OnCreate();
}
public void Check(Collider collider)
{
RLAgent agent = collider.gameObject.GetComponent<RLAgent>();
if (agent != null) {
touched[agent.Id] = true;
agent.touchListener(this);
if (precondition != null) {
if (!precondition.allowNext || !precondition.wasTouched(agent)){
agent.AddReward(-painForViolatinPrecondition, this);
agent.PreconditionFailListener(this, precondition);
return;
}
}
if (multiplePreconditions != null)
{
if (!multiplePreconditions.allowNext || !multiplePreconditions.wasTouched(agent))
{
agent.AddReward(-painForViolatinPrecondition, this);
agent.PreconditionFailListener(this, multiplePreconditions);
return;
}
}
if ( (counter[agent.Id] <
maxTouch) || (maxTouch < 0) )
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
} else if (maxTouch >= 0 && counter[agent.Id] >= maxTouch) {
agent.AddReward(-painForOverTouch, this);
}
}
}
private void Check(Collider collider)
{
RLAgent agent = collider.gameObject.GetComponent <RLAgent>();
agent.boxListener(this);
if (counter[agent.Id] < maxNumberOfTheRewards || maxNumberOfTheRewards < 0)
{
if (checkInside)
{
Collider[] colliders = Physics.OverlapBox(myCollider.bounds.center, myCollider.bounds.extents, transform.rotation);
int idx = System.Array.IndexOf(colliders, collider);
if (idx >= 0)
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
}
else
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
}
}
public bool wasTouched(RLAgent agent)
{
if (this.preconditions != null && this.preconditions.Length > 0)
{
bool r = true;
foreach (TouchRewardFunc t in preconditions)
{
if (atLeastOne)
{
r = false;
if (t.wasTouched(agent))
{
return(true);
}
}
else
{
if (!t.wasTouched(agent))
{
return(false);
}
}
}
return(r);
}
else
{
return(true);
}
}
public void Start()
{
if (target == null)
{
Debug.LogWarning("ForwardTargetReward error: target don't specified!");
}
agent = GetComponent <RLAgent>();
agent.AddResetListener(this);
minDist = -1;
}
void OnCollisionExit(Collision other)
{
if (triggerOnExit)
{
RLAgent agent = other.gameObject.GetComponent <RLAgent>();
agent.boxListener(this);
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
}
public override void RewardFrom(string actionName, RLAgent agent)
{
float d = Vector3.Distance(transform.localPosition, target.transform.localPosition);
if (minDist >= 0)
{
agent.AddReward(Math.Max(minDist - d, 0) - penalityByAction);
}
if (minDist < 0 || minDist > d)
{
minDist = d;
}
}
void Start()
{
if (ignoreX)
{
fx = 0;
}
else
{
fx = 1;
}
if (ignoreY)
{
fy = 0;
}
else
{
fy = 1;
}
if (ignoreZ)
{
fz = 0;
}
else
{
fz = 1;
}
f = new Vector3(fx, fy, fz);
hist = new float[samples];
head = 0;
len = 0;
totalReceivedReward = 0.0f;
agent = GetComponent <RLAgent>();
agent.AddResetListener(this);
prevPosition = transform.localPosition;
if (samples <= 0)
{
Debug.LogWarning("Warning: the field samples value must be greater than 0!!!");
}
if (target == null)
{
Debug.LogWarning("Warning: target is not specified for reward function named AutoApproximationReward.");
}
}
// Start is called before the first frame update
void Start()
{
if (ignoreX)
{
fx = 0;
}
else
{
fx = 1;
}
if (ignoreY)
{
fy = 0;
}
else
{
fy = 1;
}
if (ignoreZ)
{
fz = 0;
}
else
{
fz = 1;
}
f = new Vector3(fx, fy, fz);
prevPosition = transform.localPosition;
agent = GetComponent <RLAgent>();
agent.AddResetListener(this);
sumOfRewards = 0;
}
private void Check(Collider collider)
{
RLAgent agent = collider.gameObject.GetComponent <RLAgent>();
if (precondition != null)
{
if (!precondition.allowNext || !precondition.wasTouched(agent))
{
agent.AddReward(-painForViolatinPrecondition, this);
return;
}
}
if ((counter[agent.Id] < maxTouch || maxTouch < 0))
{
counter[agent.Id]++;
agent.AddReward(rewardValue, this);
}
else if (maxTouch >= 0 && counter[agent.Id] >= maxTouch)
{
agent.AddReward(-painForOverTouch, this);
}
}
public virtual void RewardFrom(string actionName, RLAgent agent)
{
}
public bool wasTouched(RLAgent agent) {
return touched[agent.Id];
}
public virtual void RewardFrom(RLAgent agent)
{
}
void Start()
{
fall = false;
agent = GetComponent <RLAgent>();
agent.AddResetListener(this);
}
public bool wasTouched(RLAgent agent)
{
return(counter[agent.Id] >= precondictionMin);
}
