private void ApplyReward()
{
float delta, distance;
CalculateDestinationData(out delta, out distance);
float angleSign, velocitySign;
bool leavingBroomBehind = LeavingBroomBehind(out angleSign, out velocitySign);
float penalty = velocitySign == MH.Sign(delta)
? leavingBroomBehind
? -0.0005f
: -0.00005f
: leavingBroomBehind
? -0.00005f
: -0.005f;
AddReward(penalty);
if (distance < DistanceThreshold)
{
ResetDestination();
SetReward(1f);
}
if (CheckFailure())
{
Done();
SetReward(-1f);
}
}
private bool LeavingBroomBehind(out float angleSign, out float velocitySign)
{
angleSign = MH.Sign(balancer.Broom.Joint.angle);
velocitySign = MH.Sign(balancer.Rigidbody.velocity.x);
return(angleSign == velocitySign);
}