private void Reset(bool changePosition = false)
{
step = 0;
var targetPosition = target.localPosition;
var initialRotation = Quaternion.identity;
var initialVelocity = Vector3.zero;
if (changePosition)
{
var randomZ = Random.Range(0, 2);
if (randomZ == 0)
{
targetPosition.z = 0;
var randomX = Random.Range(0, 2);
if (randomX == 0)
{
targetPosition.x = -5f;
}
else
{
targetPosition.x = 5f;
}
}
else
{
targetPosition.z = -5f;
var randomX = Random.Range(-5f, 5f);
targetPosition.x = randomX;
}
}
ResetUnityEntities(initialRotation, targetPosition);
unityAgent.model = RotateAgent.Update(unityAgent.model, initialRotation, targetPosition, initialVelocity, initialTurnDirection);
}
private void Initialize()
{
step = 0;
var targetPosition = target.localPosition;
unityAgent.model = RotateAgent.Create(Quaternion.identity, targetPosition, rotationAngle);
ResetUnityEntities(Quaternion.identity, targetPosition);
}
public void Step(int maxSteps)
{
step += 1;
var agentBody = unityAgent.body;
var agentPosition = agentBody.transform.localPosition;
var agentRotation = agentBody.rotation;
var agentVelocity = agentBody.angularVelocity;
var targetPosition = target.localPosition;
var turnDirection = CalculateTurnDirection(agentBody, targetPosition, agentPosition);
unityAgent.model = RotateAgent.Update(unityAgent.model, agentRotation, targetPosition, agentVelocity, turnDirection);
if (IsFacingTarget(agentBody, targetPosition, agentPosition))
{
if (stepsFacing >= mustFaceTargetSteps)
{
AgentDone();
}
else
{
FacingReward(agentBody, targetPosition, agentPosition, maxSteps);
}
}
else if (GoingWrongDirection(turnDirection))
{
AgentFail();
}
else if (step > maxSteps)
{
TimeUp();
}
else
{
AgentStep(maxSteps, turnDirection);
}
}