/* agent initialization */
public override void InitializeAgent()
{
base.InitializeAgent();
manager = GetComponentInParent <AgentManager>();
trainSetting = manager.GetTrainSetting();
rayPercept = GetComponent <RayPerception>();
controller = gameObject.GetComponent <SimpleCarControllers>();
reward = new AgentRewardSystem();
ResetAgent();
}
public override void AcademyReset()
{
#if UNITY_EDITOR
Debug.unityLogger.logEnabled = true;
#else
Debug.unityLogger.logEnabled = false;
#endif
int activeAgents = (int)resetParameters["num_agents"];
int activeObstacles = (int)resetParameters["num_obstacles"];
TRAIN_SETTING maSetting = (TRAIN_SETTING)resetParameters["setting"];
GameObject.Find("AgentManager").GetComponent <AgentManager>().SetAgents(activeAgents, maSetting, this.GetIsInference());
GameObject.Find("ObstaclesManager").GetComponent <ObstaclesManager>().SetObstacles(activeObstacles);
}
// Start is called before the first frame update
public void SetAgents(int numberOfAgents, TRAIN_SETTING setting, bool isInfer)
{
isInference = isInfer;
maSetting = setting;
NAgents = 0;
agents = new List <MyRaceAgent>();
foreach (Transform cp in transform)
{
if (cp.parent != null)
{
agents.Add(cp.gameObject.GetComponent <MyRaceAgent>());
NAgents++;
}
}
Debug.Log("Number of active agents: " + numberOfAgents);
for (int i = numberOfAgents; i < NAgents; i++)
{
agents[i].gameObject.SetActive(false);
}
}
/* collect and calculate current reward (once every step) */
public void CollectReward(
TRAIN_SETTING trainSetting, //training setting (selfish, cooperative, competative)
float velocity, // car velocity magnitude
float maxSpeed, // max speed normalization constant
float direction, // direction of drive
float avgSpeedOfOtherAgents, // average speed of the rest of the cars.
int previousCheckpoint, // index of last checkpoint in previous step
int currentCheckpoint, // index of last checkpoint in current step
int numberOfCheckpoints, // number of checkpoints in race track
bool collision // did a collision accur
)
{
if (trainSetting == TRAIN_SETTING.COOPERATIVE)
{
AddCooperativeVelocityReward(velocity, maxSpeed, direction, avgSpeedOfOtherAgents);
}
else // Selfish or Competative
{
AddVelocityReward(velocity, maxSpeed, direction);
}
AddCheckpointReward(previousCheckpoint, currentCheckpoint, numberOfCheckpoints);
AddCollisionReward(collision);
}
