public override void CollectObservations(VectorSensor sensor)
{
//TODO: addobservation direct en vecteur, et non pas composante par composante
Vector3 rocketPosition = rc.GetPosition();
Vector3 rocketVelocity = rc.GetVelocity();
Vector3 rocketAngularVelocity = rc.GetAngularVelocity();
float rollIndicator = rc.GetZRotation();
float pitchIndicator = rc.GetXRotation();
float upsideDownIndicator = rc.GetYRotation();
sensor.AddObservation(rocketPosition.x);
sensor.AddObservation(rocketPosition.y);
sensor.AddObservation(rocketPosition.z);
sensor.AddObservation(rocketVelocity.x);
sensor.AddObservation(rocketVelocity.y);
sensor.AddObservation(rocketVelocity.z);
sensor.AddObservation(rollIndicator);
sensor.AddObservation(upsideDownIndicator);
sensor.AddObservation(pitchIndicator);
sensor.AddObservation(rocketAngularVelocity.x);
sensor.AddObservation(rocketAngularVelocity.z);
/*
* string[] returnable = new string[11];
* returnable[0] = rc.GetPosition().x.ToString();
* returnable[1] = rc.GetPosition().y.ToString();
* returnable[2] = rc.GetPosition().z.ToString();
* returnable[3] = rc.GetVelocity().x.ToString();
* returnable[4] = rc.GetVelocity().y.ToString();
* returnable[5] = rc.GetVelocity().z.ToString();
* returnable[6] = rc.GetXRotation().ToString();
* returnable[7] = rc.GetYRotation().ToString();
* returnable[8] = rc.GetZRotation().ToString();
* returnable[9] = rc.GetAngularVelocity().x.ToString();
* returnable[10] = rc.GetAngularVelocity().z.ToString();
* CSVManager.AppendToReport(returnable);
*/
}
public void Update()
{
RocketController.Update();
Camera.Update();
UpdateScore((int)RocketController.GetPosition().x);
}