void FixedUpdate()
{
int score1 = 0;
int score2 = 0;
Pucks.ForEach(x =>
{
if (x.position.x < -10.0f)
{
RewardList[0] -= 50;
score1++;
}
if (x.position.x > 10.0f)
{
RewardList[0] += 18;
score2++;
}
RewardList[0] += CollisionNum;
double x_dif2 = (this.transform.position.x - x.position.x) * (this.transform.position.x - x.position.x);
double z_dif2 = (this.transform.position.z - x.position.z) * (this.transform.position.z - x.position.z);
RewardList[1] = -(float)Math.Sqrt(x_dif2 + z_dif2) / 20.0f;
//RewardList[1]-=CurrentStep/100.0f;
});
SetReward(CulcReward());
if (score1 == endScore || score2 == endScore)
{
Done();
}
}
// Q学習用
public override int GetState()
{
int r = 0;
MalletControllers.ForEach(h =>
{
r = r * 9 + h.GetState();
});
Pucks.Select(puck => puck.GetComponent <Puck>()).ToList()
.ForEach(b => r = r * 9 + b.GetState(MalletControllers.Select(h => h.transform).ToList()));
return(r);
}
void Awake()
{
MalletControllers = new List <MalletController> {
Mallet
};
StartPuckPositions = Pucks.Select(x => x.position).ToList(); //??
MyPosition = transform.position;
// 報酬に関して
RewardList = new List <float>()
{
0, 0
};
//報酬を加算
}
//エージェントの初期化
public override void AgentReset()
{
CurrentStep = 0;
CurrentStepMax = 1000;
CollisionNum = 0;
gameObject.SetActive(false);
gameObject.SetActive(true);
MalletControllers.ForEach(x => x.ResetParams());
Pucks.ForEach(b => b.GetComponent <Puck>().ResetParams());
RewardList = new List <float>()
{
0, 0
};
}
//(NE)状態を取得する
public override List <double> CollectObservations()
{
var observations = new List <double>();
MalletControllers.ForEach(x =>
{
observations.Add(x.RB.position.x - MyPosition.x);
observations.Add(x.RB.position.z - MyPosition.z);
});
Pucks.OrderBy(x => x.position.x).ToList().ForEach(x =>
{
observations.Add(x.position.x - MyPosition.x);
observations.Add(x.position.z - MyPosition.z);
observations.Add(x.velocity.x);
observations.Add(x.velocity.z);
});
return(observations);
}
