public List <float> GetNormalizedObs()
{
obs.Clear();
// Inclination
obs.Add(transform.right.y);
obs.Add(transform.up.y);
obs.Add(transform.forward.y);
AddVectorObs(obs, AgentUtil.Sigmoid(Localize(rb.velocity)));
AddVectorObs(obs, AgentUtil.Sigmoid(Localize(rb.angularVelocity)));
CumlProximity = 0;
Vector3 pos = transform.position;
Vector3 fwd = ForwardXZ;
for (int angle = -60; angle <= 60; angle += 5)
{
CastRay(pos, fwd, angle);
}
for (int angle = 75; angle <= 285; angle += 15)
{
CastRay(pos, fwd, angle);
}
return(obs);
}
public override void CollectObservations()
{
AddVectorObs(actionsBuffer[0]);
AddVectorObs(actionsBuffer[1]);
AddVectorObs(actionsBuffer[2]);
AddVectorObs(body.GetNormalizedObs()); // 89
RaycastResult result = head.CastRay();
hasTargetLock = result.HasHit;
if (hasTargetLock)
{
AddVectorObs(-1f);
AddVectorObs(result.NormDistance);
Vector3 v = body.Localize(result.OpponentBody.VelocityXZ);
AddVectorObs(AgentUtil.Sigmoid(v.x));
AddVectorObs(AgentUtil.Sigmoid(v.z));
}
else
{
AddVectorObs(1f);
AddVectorObs(1f);
AddVectorObs(0f);
AddVectorObs(0f);
}
}
public List <float> GetNormalizedObs()
{
obs.Clear();
// Inclination
obs.Add(transform.right.y);
obs.Add(transform.up.y);
obs.Add(transform.forward.y);
obs.Add(GetNormalizedGroundDistance());
AddVectorObs(obs, AgentUtil.Sigmoid(Localize(rb.velocity)));
AddVectorObs(obs, AgentUtil.Sigmoid(Localize(rb.angularVelocity)));
for (int i = 0; i < 4; i++)
{
AddVectorObs(obs, AgentUtil.Sigmoid(Localize(feet[i].Velocity)));
obs.Add(feet[i].GetNormalizedGroundDistance());
}
return(obs);
}