public override void OnActionReceived(float[] vectorAction)
{
var action = Mathf.FloorToInt(vectorAction[0]);
switch (action)
{
case k_NoAction:
myLogger.setAction("No Action");
break;
case k_ChangeRender:
myLogger.setAction("Change Render");
if (lightOn)
{
SwitchLightOff();
AddReward(-0.2f);
myLogger.SetRewardValue(-0.2f);
myLogger.AddRewardCumulatedValue(-0.2f);
}
else
{
SwitchLightOn();
AddReward(0.2f);
myLogger.SetRewardValue(+0.2f);
myLogger.AddRewardCumulatedValue(+0.2f);
}
break;
case k_MoveLeft:
myLogger.setAction("Move Left");
if (lightOn)
{
transform.position += new Vector3(-1.0f, 0.0f, 0.0f);
}
break;
case k_MoveRight:
myLogger.setAction("Move Right");
if (lightOn)
{
transform.position += new Vector3(1.0f, 0.0f, 0.0f);
}
break;
case k_MoveFront:
myLogger.setAction("Move Front");
if (lightOn)
{
transform.position += new Vector3(0.0f, 0.0f, 1.0f);
}
break;
case k_MoveBack:
myLogger.setAction("Move Back");
if (lightOn)
{
transform.position += new Vector3(0.0f, 0.0f, -1.0f);
}
break;
}
// Si déborde r = -1
if (transform.position.x < -4.5f || transform.position.x > 4.5f || transform.position.z < -4.5f || transform.position.z > 4.5f)
{
SetReward(-1.0f);
myLogger.AddRewardCumulatedValue(-1.0f);
EndEpisode();
}
else if (transform.position.x == goal.transform.position.x && transform.position.z == goal.transform.position.z)
{
SetReward(1.0f);
myLogger.AddRewardCumulatedValue(1.0f);
EndEpisode();
}
}