/// <summary>
/// Gives rewards to agents based on which kind of energycore hit which goal.
/// goalHit: Which goal was hit
/// coreType: Which type of energy core hit the goal
/// </summary>
public void GoalTouched(AIRobotAgent.Team goalHit, EnergyCoreController.CoreType coreType)
{
goalCounter++;
var rewards = CalculateRewards(goalHit, coreType);
foreach (var agent in m_BlueAgents)
{
agent.robotScript.AddReward(rewards.blueReward);
}
foreach (var agent in m_RedAgents)
{
agent.robotScript.AddReward(rewards.redReward);
}
var amountOfAgents = m_BlueAgents.Count + m_RedAgents.Count;
float EndEpisodeOnNegReward = m_ResetParams.GetWithDefault(
"end_episode_on_neg_reward_if_single_agent",
m_EndEpisodeOnNegRewardIfSingleAgent == true ? 1.0f : 0.0f);
if (amountOfAgents == 1 && EndEpisodeOnNegReward > 0)
{
if (m_BlueAgents.Count > 0 && rewards.blueReward < 0)
{
EndEpisodeForAgents();
}
else if (m_RedAgents.Count > 0 && rewards.redReward < 0)
{
EndEpisodeForAgents();
}
}
// All energy cores have been put in goals. Reset arena.
if (goalCounter >= (m_NegEnergyCores.Count + m_PosEnergyCores.Count))
{
EndEpisodeForAgents();
}
Material groundMat = null;
if (rewards.blueReward > 0)
{
groundMat = m_AIRobotSettings.blueTeamSuccessMat;
}
else
{
groundMat = m_AIRobotSettings.redTeamSuccessMat;
}
StartCoroutine(GoalScoredSwapGroundMaterial(groundMat, 0.5f));
}
Rewards CalculateRewards(AIRobotAgent.Team goalHit, EnergyCoreController.CoreType coreType)
{
int redReward = 0;
int blueReward = 0;
if (goalHit == AIRobotAgent.Team.Blue)
{
// Blue team got positive core.
if (coreType == EnergyCoreController.CoreType.Positive)
{
redReward = posECoreHitsOpponentGoalReward;
blueReward = posECoreHitsOwnGoalReward;
}
// Blue team got negative core.
else
{
redReward = negECoreHitsOpponentGoalReward;
blueReward = negECoreHitsOwnGoalReward;
}
}
else
{
// Red team got positive core.
if (coreType == EnergyCoreController.CoreType.Positive)
{
redReward = posECoreHitsOwnGoalReward;
blueReward = posECoreHitsOpponentGoalReward;
}
// Red team got negative core.
else
{
redReward = negECoreHitsOwnGoalReward;
blueReward = negECoreHitsOpponentGoalReward;
}
}
var rewards = new Rewards()
{
blueReward = blueReward, redReward = redReward
};
return(rewards);
}
