IEnumerator WaitAndGo(StopCounts stopCount)
{
// stop bus
navAgent.Stop();
print(this.name + " loading " + stopCount.waiting.ToString() + " passengers at " + stopOrder[nextStopIdx - 1]);
this.loading = stopCount.waiting;
// start loading
while (stopCount.waiting > 0)
{
stopCount.waiting--; // load passenger
this.loading--;
passengersBoarded++;
yield return(new WaitForSeconds(1f)); //Wait
// print(this.name + " passengers waiting: " + stopCount.waiting);
AddReward(rwdPsxPickup);
}
// confirm all passengers picked up (by this or other bus)
this.loading = 0;
// start bus
navAgent.Resume();
}
void OnTriggerEnter(Collider collision)
{
// print (this.name + " collided with " + collision.gameObject.tag);
// if at the next stop
if (collision.gameObject.tag == currentStop)
{
// Reward reaching next stop
// AddReward(rwdEachStop);
// Reward maintaining distance
float dist = Vector3.Distance(otherBus.transform.position, this.transform.position);
// print(busIdx.ToString() + " distance to other: " + dist);
if (dist > 700)
{
AddReward(rwdDistance);
}
// Get stop details
StopCounts stopCount = collision.gameObject.GetComponent <StopCounts>();
if (stopCount.waiting > 0)
{
StartCoroutine(WaitAndGo(stopCount));
} // only stop if px waiting
// Update stop
updateNextStop();
// if full circle completed, mark as episode done
if (currentStop == "Stop 1")
{
AddReward(rwdCircuit);
Done();
}
// if returned to previous stop then penalise heavily
}
else if (collision.gameObject.tag == previousStop)
{
AddReward(rwdPrevStop);
}
}
