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73 行
2.1 KiB
73 行
2.1 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class WallAgent : AreaAgent
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{
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public GameObject goalHolder;
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public GameObject block;
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public GameObject wall;
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public override void InitializeAgent()
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{
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base.InitializeAgent();
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}
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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((goalHolder.transform.position.x - area.transform.position.x));
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state.Add((goalHolder.transform.position.y - area.transform.position.y));
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state.Add((goalHolder.transform.position.z + 5 - area.transform.position.z));
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state.Add((block.transform.position.x - area.transform.position.x));
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state.Add((block.transform.position.y - area.transform.position.y));
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state.Add((block.transform.position.z + 5 - area.transform.position.z));
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state.Add(wall.transform.localScale.y);
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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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Vector3 blockVelocity = block.GetComponent<Rigidbody>().velocity;
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state.Add(blockVelocity.x);
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state.Add(blockVelocity.y);
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state.Add(blockVelocity.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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int movement = Mathf.FloorToInt(act[0]);
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MoveAgent(movement);
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if (gameObject.transform.position.y < 0.0f ||
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Mathf.Abs(gameObject.transform.position.x - area.transform.position.x) > 8f ||
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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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public override void AgentOnDone()
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{
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}
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}
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