public void Step(int maxSteps)
{
step += 1;
var newPosition = unityAgent.transform.localPosition;
var newRotation = unityAgent.body.rotation.eulerAngles;
var newVelocity = unityAgent.body.velocity;
var newTargetPosition = target.localPosition;
var isInsideArea = FlyingArea.IsInsideArea(area);
agent = FlyingAgent.Update(agent, newPosition, newTargetPosition, newRotation, velocity: newVelocity,
speed: moveSpeed);
area = FlyingArea.Update(area, agent, newTargetPosition, isInsideArea);
if (!isInsideArea)
{
AgentOutsideArea(maxSteps);
}
if (isInsideArea)
{
AgentInsideArea(maxSteps);
}
if (AgentOutOfBounds())
{
AgentFail();
}
if (step > maxSteps)
{
TimeUp();
}
AgentStep(maxSteps);
}
private void Initialize()
{
step = 0;
stepsInsideTarget = 0;
levelParameters = LevelParameters.Create(100, 30f, 1f);
var initialPosition = spawnPosition.localPosition;
var targetPosition = target.localPosition;
agent = FlyingAgent.Create(initialPosition, target: targetPosition, speed: moveSpeed);
area = FlyingArea.Create(agent, targetPosition, doneReward: 2f, failReward: -2f);
ResetUnityEntities(initialPosition, targetPosition);
}
private void Reset(bool changeTargetPosition = false)
{
step = 0;
stepsInsideTarget = 0;
var initialPosition = spawnPosition.localPosition;
var targetLocalPosition = target.localPosition;
var targetPosition = changeTargetPosition
? GenerateNewTargetPosition(initialPosition)
: targetLocalPosition;
agent = FlyingAgent.Update(agent, initialPosition, targetPosition);
area = FlyingArea.Update(area, agent, targetPosition);
ResetUnityEntities(initialPosition, targetPosition);
}
