1.任何弱點觸地皆失敗 (尾巴、武器和Calf並非弱點)

2.當武器OnCollisionEnter Player

會傳送collision.impulse

//impulseRewardCoef = 0.05f

public void HitWithWeapon(Vector3 impulse){if(!hitTarget){avgVelocity = velocityBuffer.GetSmoothVal();hitOnVelocity = avgVelocity.normalized;float reward = Vector3.ProjectOnPlane(impulse, hitOnVelocity).magnitude * impulseRewardCoef;lastReward += reward;totalReward += reward;AddReward( reward );arrivedMoment = Time.fixedTime;hitTarget = true;}}

3.

//Set: judge.endEpisode = true//Set: judge.episodeLength = 3.3f//Set: weapon, tail not weakness//Set: useClampReward = trueif(weaknessOnGround){if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("KoboldGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{// ===Train Attack===if(!hitTarget){float survivedTime = Time.fixedTime - arrivedMoment;if(survivedTime < judge.episodeLength ){AddReward( (survivedTime - judge.episodeLength) * 0.1f );}}judge.outLife++;judge.Reset();return;//===Train Other===// brainMode = BrainMode.GetUp;// SetModel("KoboldGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}else if(koboldRoot.localPosition.y < -1f){if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("KoboldGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{// ===Train Attack===if(!hitTarget){float survivedTime = Time.fixedTime - arrivedMoment;if(survivedTime < judge.episodeLength ){AddReward( (survivedTime - judge.episodeLength) * 0.3f );}}judge.outY++;judge.Reset();return;// ===Train Other===// brainMode = BrainMode.GetUp;// SetModel("KoboldGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}/*else if( IsCollideWithBody() ){if(inferenceMode){brainMode = BrainMode.GetUp;SetModel("KoboldGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}else{// ===Train Attack===if(!hitTarget){float survivedTime = Time.fixedTime - arrivedMoment;if(survivedTime < judge.episodeLength ){AddReward( (survivedTime - judge.episodeLength) * 0.1f );}}judge.outLife++;judge.Reset();return;//===Train Other===// brainMode = BrainMode.GetUp;// SetModel("KoboldGetUp", getUpBrain);// behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}*/else{if(hitTarget){targetSmoothVelocity = targetVelocityBuffer.GetSmoothVal();lastReward = Vector3.ProjectOnPlane(targetSmoothVelocity, hitOnVelocity).magnitude * 0.01f;totalReward += lastReward;AddReward(lastReward);if(inferenceMode){if(hasArrived && Time.fixedTime - arrivedMoment >= judge.episodeLength){hitTarget = false;brainMode = BrainMode.GetUp;SetModel("KoboldGetUp", getUpBrain);behaviorParameters.BehaviorType = BehaviorType.InferenceOnly;}}}}