public override void OnEpisodeBegin()
{
if (_fireCoroutine != null)
{
StopCoroutine(_fireCoroutine);
_fireCoroutine = null;
}
Renderer.material = NormalMaterial;
CanFire = true;
_fireTime = Random.Range(FireTimeMin, FireTimeMax);
var p = Spawner.GetRandomPosition(Radius, SpawnDistance);
transform.position = p;
transform.rotation = Quaternion.Euler(0f, Random.value * 360f, 0f);
_direction = Vector3.zero;
_look = Vector3.zero;
_lookedCoin = null;
_speed = Random.Range(SpeedMin, SpeedMax);
_rotSpeed = Random.Range(RotSpeedMin, RotSpeedMax);
_rayDistance = Random.Range(RayDistanceMin, RayDistanceMax);
_coinCount = 0;
Spawner.ResetWalls();
}
public CoinAgent GetNearlyCoin(Vector3 pos)
{
CoinAgent result = null;
float dist = float.MaxValue;
foreach (var coin in _coinList)
{
var d = (pos - coin.transform.position).magnitude;
if (result == null || d < dist)
{
result = coin;
dist = d;
}
}
return(result);
}
public override void CollectObservations(VectorSensor sensor)
{
_lookedCoin = null;
var rotAngle = transform.rotation.eulerAngles.y;
sensor.AddObservation(rotAngle / 360f);
sensor.AddObservation(_speed);
sensor.AddObservation(_rotSpeed);
sensor.AddObservation(CanFire);
var nearCoin = Spawner.GetNearlyCoin(transform.position);
if (nearCoin != null)
{
//var coinAngle = Vector3.SignedAngle(transform.position, nearCoin.transform.position, Vector3.up);
//sensor.AddObservation(coinAngle / 360f);
var p = (transform.position - nearCoin.transform.position) / _rayDistance;
sensor.AddObservation(p.x);
sensor.AddObservation(p.z);
}
else
{
sensor.AddObservation(1f);
sensor.AddObservation(1f);
}
for (int i = 0; i < Rays.Length; i++)
{
/*if(i > 0)
* {
* sensor.AddObservation(0.5f);
* continue;
* }*/
var d = _rayDistance;
Color rc = Color.white;
var baseDir = Rays[i].normalized;
var dir = Quaternion.LookRotation(baseDir) * transform.forward;
var r = new Ray(transform.position + RayOffset, dir);
if (Physics.Raycast(r, out var hitInfo, _rayDistance) && hitInfo.transform != null)
{
var idx = Targets.IndexOf(hitInfo.transform.tag);
var dist = hitInfo.distance / _rayDistance;
sensor.AddObservation(dist);
d = hitInfo.distance;
if (i == 0)
{
if (hitInfo.transform.CompareTag("Coin"))
{
_lookedCoin = hitInfo.transform.GetComponentInParent <CoinAgent>();
_lookedCoinDist = dist;
_lookedCoinTimer += Time.fixedDeltaTime;
rc = Color.red;
}
else
{
_lookedCoinTimer = 0f;
}
}
}
