public override void AgentAction(float[] vectorAction, string textAction)
{
var forward = vectorAction[0];
var rotation = vectorAction[1];
switch (forward)
{
case 1:
CarDriver.Accelerate(1);
break;
case 2:
CarDriver.Accelerate(-1);
break;
default:
CarDriver.Accelerate(0);
CarDriver.Brake();
break;
}
switch (rotation)
{
case 1:
CarDriver.Steer(-1);
break;
case 2:
CarDriver.Steer(1);
break;
default:
CarDriver.Steer(0);
break;
}
AddReward(-(1f / agentParameters.maxStep) * (Vector3.Distance(transform.position,
TargetPoint.transform.position) /
StartDistance));
var angle = Mathf.Abs(Vector3.Dot(transform.forward,
transform.InverseTransformVector(TargetPoint.transform.position)));
//if(angle <= 30)
//{
// AddReward(0.03f);
//}
//else
//{
// AddReward(-0.03f);
//}
}
//------------------------------------------------------------------
public void Start()
{
Car closest = driver.FindClosestCar(driver.Car.Lane.Cars.Where(driver.IsCarAhead));
if (driver.Distance(closest) > driver.SafeZone.LowDanger)
{
driver.Accelerate(this);
}
}