/// <summary>
/// Apply vector action. The agent receives decisions represented in a vector with floating point numbers.
/// </summary>
/// <param name="vectorAction">Vector containing float values from -1 to 1. Representing actions the agent will perform.</param>
/// <param name="textAction"></param>
public override void AgentAction(float[] vectorAction, string textAction)
{
// SPEED
speed = 50 * vectorAction[2];
// ROTATION
Vector3 rotateVector = transform.up * vectorAction[0];
agentRigidbody.MoveRotation(Quaternion.Euler(agentRigidbody.rotation.eulerAngles + rotateVector * speed));
// MOVEMENT
Vector3 moveVector = transform.forward * vectorAction[1];
agentRigidbody.AddForce(moveVector * speed, ForceMode.VelocityChange);
// DETERMINE STATE
if (GetCumulativeReward() <= -1f)
{
// Reward is too negative, give up
Done();
// Indicate failure with the ground material
StartCoroutine(agentArea.SwapGroundMaterial(success: false));
}
else
{
// Encourage movement with a tiny time penalty and update the score text display
AddReward(-.001f);
agentArea.UpdateScore(GetCumulativeReward());
}
}
