public override void OnEpisodeBegin()
{
// Debug.Log("Episode Begin...");
// Debug.Log("Initializing episode...");
transform.localPosition = moveTo = new Vector3(Random.Range(-8f, 8f), originalPosition.y, originalPosition.z);
target.transform.localPosition = new Vector3(Random.Range(-8f, 8f), target.transform.localPosition.y, target.transform.localPosition.z);
transform.localRotation = Quaternion.identity;
moveToDirection = MoveToDirection.Forward;
moveInProgress = true;
moveTo = new Vector3(transform.localPosition.x, transform.localPosition.y, transform.localPosition.z + stepAmount);
doRotate = false;
isRotationComplete = false;
waitToEndEpisode = false;
GameObject.Find("Robot spawner").GetComponent <RobotSpawner>().DestroyEpisodeRobots();
GameObject.Find("Robot spawner").GetComponent <RobotSpawner>().Respawn();
totalDistance = Vector3.Distance(target.transform.localPosition, transform.localPosition);
previousDistance = totalDistance;
// Debug.Log("Initalization Complete...");
moveInProgress = false;
}
public override void OnActionReceived(float[] vectorAction)
{
if (moveInProgress)
{
return;
}
direction = Mathf.FloorToInt(vectorAction[0]);
switch (direction)
{
case 0: // idle
moveTo = transform.localPosition;
moveToDirection = MoveToDirection.Idle;
break;
case 1: // left
moveTo = new Vector3(transform.localPosition.x - stepAmount, transform.localPosition.y, transform.localPosition.z);
moveToDirection = MoveToDirection.Left;
moveInProgress = true;
break;
case 2: // right
moveTo = new Vector3(transform.localPosition.x + stepAmount, transform.localPosition.y, transform.localPosition.z);
moveToDirection = MoveToDirection.Right;
moveInProgress = true;
break;
case 3: // forward
moveTo = new Vector3(transform.localPosition.x, transform.localPosition.y, transform.localPosition.z + stepAmount);
moveToDirection = MoveToDirection.Forward;
moveInProgress = true;
break;
}
}
public override void OnActionReceived(float[] vectorAction)
{
if (moveInProgress || waitToEndEpisode)
{
return;
}
direction = Mathf.FloorToInt(vectorAction[0]);
switch (direction)
{
case 0: // idle
// moveTo = new Vector3(transform.localPosition.x, transform.localPosition.y, transform.localPosition.z - stepAmount);
moveToDirection = MoveToDirection.Idle;
moveInProgress = false;
break;
case 1: // left
moveTo = new Vector3(transform.localPosition.x - stepAmount, transform.localPosition.y, transform.localPosition.z);
moveToDirection = MoveToDirection.Left;
// transform.Rotate(0f, -90f, 0f);
doRotate = true;
isRotationComplete = false;
moveInProgress = true;
rotationAngle = new Vector3(0f, -90f, 0f);
break;
case 2: // right
moveTo = new Vector3(transform.localPosition.x + stepAmount, transform.localPosition.y, transform.localPosition.z);
moveToDirection = MoveToDirection.Right;
// transform.Rotate(0f, 90f, 0f);
doRotate = true;
isRotationComplete = false;
moveInProgress = true;
rotationAngle = new Vector3(0f, 90f, 0f);
break;
case 3: // forward
moveTo = new Vector3(transform.localPosition.x, transform.localPosition.y, transform.localPosition.z + stepAmount);
moveToDirection = MoveToDirection.Forward;
moveInProgress = true;
break;
}
}
