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77 行
2.6 KiB
77 行
2.6 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class AreaAgent : Agent
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{
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public GameObject area;
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public override List<float> CollectState()
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{
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List<float> state = new List<float>();
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Vector3 velocity = GetComponent<Rigidbody>().velocity;
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state.Add((transform.position.x - area.transform.position.x));
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state.Add((transform.position.y - area.transform.position.y));
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state.Add((transform.position.z + 5 - area.transform.position.z));
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state.Add(velocity.x);
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state.Add(velocity.y);
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state.Add(velocity.z);
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return state;
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}
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public override void AgentStep(float[] act)
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{
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reward = -0.01f;
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float movement = act[0];
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float directionX = 0;
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float directionZ = 0;
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float directionY = 0;
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if (movement == 1) { directionX = -1; }
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if (movement == 2) { directionX = 1; }
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if (movement == 3) { directionZ = -1; }
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if (movement == 4) { directionZ = 1; }
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if (movement == 5 && GetComponent<Rigidbody>().velocity.y <= 0) { directionY = 1; }
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Vector3 fwd = transform.TransformDirection(Vector3.down);
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if (!Physics.Raycast(transform.position, fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, 0.499f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(0.0f, 0f, -0.499f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, 0.499f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, 0.499f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(0.499f, 0f, -0.499f), fwd, 0.51f) &&
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!Physics.Raycast(transform.position + new Vector3(-0.499f, 0f, -0.499f), fwd, 0.51f))
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{
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directionY = 0f;
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directionX = directionX / 5f;
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directionZ = directionZ / 5f;
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}
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gameObject.GetComponent<Rigidbody>().AddForce(new Vector3(directionX * 40f, directionY * 300f, directionZ * 40f));
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if (GetComponent<Rigidbody>().velocity.sqrMagnitude > 25f)
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{
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GetComponent<Rigidbody>().velocity *= 0.95f;
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}
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if (gameObject.transform.position.y < 0.0f || Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f || Mathf.Abs(gameObject.transform.position.z + 5 - area.transform.position.z) > 8)
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{
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done = true;
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reward = -1f;
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}
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}
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public override void AgentReset()
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{
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transform.position = new Vector3(Random.Range(-3.5f, 3.5f), 1.1f, -8f) + area.transform.position;
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GetComponent<Rigidbody>().velocity = new Vector3(0f, 0f, 0f);
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area.GetComponent<Area>().ResetArea();
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}
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}
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